WORST_CASE(Omega(0),?)

Initial ITS
Start location: l7
   0: l0 -> l1 : executed_Drive^0'=executed_Drive^post0, y_next^0'=y_next^post0, pc_Drive^0'=pc_Drive^post0, x^0'=x^post0, is_aborted_next^0'=is_aborted_next^post0, pc_Loop^0'=pc_Loop^post0, y^0'=y^post0, n1^0'=n1^post0, pc_Plan_next^0'=pc_Plan_next^post0, is_aborted^0'=is_aborted^post0, pc_Drive_next^0'=pc_Drive_next^post0, x_next^0'=x_next^post0, n0^0'=n0^post0, pc_Plan^0'=pc_Plan^post0, (0 == 0 /\ -1+pc_Loop^post0 == 0 /\ -4+pc_Drive_next^post0 <= 0 /\ 4-pc_Drive_next^post0 <= 0 /\ -7+pc_Drive_next^post0 <= 0 /\ -1+x_next^post0-x^0 <= 0 /\ pc_Drive^post0-pc_Drive_next^post0 == 0 /\ 2-pc_Plan^post0 <= 0 /\ -y_next^post0+y^post0 == 0 /\ -7+pc_Plan_next^post0 <= 0 /\ 1-y_next^post0+y^0 <= 0 /\ -n0^post0+n0^0 == 0 /\ n1^0-n1^post0 == 0 /\ pc_Plan^post0-pc_Plan_next^post0 == 0 /\ 3-pc_Plan_next^post0 <= 0 /\ 1-pc_Drive_next^post0 <= 0 /\ 1-x_next^post0+x^0 <= 0 /\ -1+executed_Drive^post0 == 0 /\ -2+pc_Plan^post0 <= 0 /\ -x_next^post0+x^post0 == 0 /\ 1-is_aborted_next^post0 <= 0 /\ -1+is_aborted_next^post0 <= 0 /\ is_aborted^post0-is_aborted_next^post0 == 0 /\ -is_aborted_next^post0 <= 0 /\ -1+y_next^post0-y^0 <= 0 /\ 1-pc_Plan_next^post0 <= 0), cost: 1
   1: l0 -> l1 : executed_Drive^0'=executed_Drive^post1, y_next^0'=y_next^post1, pc_Drive^0'=pc_Drive^post1, x^0'=x^post1, is_aborted_next^0'=is_aborted_next^post1, pc_Loop^0'=pc_Loop^post1, y^0'=y^post1, n1^0'=n1^post1, pc_Plan_next^0'=pc_Plan_next^post1, is_aborted^0'=is_aborted^post1, pc_Drive_next^0'=pc_Drive_next^post1, x_next^0'=x_next^post1, n0^0'=n0^post1, pc_Plan^0'=pc_Plan^post1, (0 == 0 /\ 1-pc_Plan_next^post1 <= 0 /\ -y_next^post1+y^0 <= 0 /\ 2-pc_Plan^post1 <= 0 /\ -x_next^post1+x^post1 == 0 /\ 3-pc_Plan_next^post1 <= 0 /\ -7+pc_Drive_next^post1 <= 0 /\ 5-pc_Drive_next^post1 <= 0 /\ y_next^post1-y^0 <= 0 /\ x^0-x_next^post1 <= 0 /\ -7+pc_Plan_next^post1 <= 0 /\ pc_Plan^post1-pc_Plan_next^post1 == 0 /\ -2+pc_Plan^post1 <= 0 /\ 1-is_aborted_next^post1 <= 0 /\ -1+is_aborted_next^post1 <= 0 /\ n1^0-n1^post1 == 0 /\ -is_aborted_next^post1 <= 0 /\ -x^0+x_next^post1 <= 0 /\ -1+pc_Loop^post1 == 0 /\ 1-pc_Drive_next^post1 <= 0 /\ executed_Drive^0-executed_Drive^post1 == 0 /\ pc_Drive^post1-pc_Drive_next^post1 == 0 /\ -y_next^post1+y^post1 == 0 /\ is_aborted^post1-is_aborted_next^post1 == 0 /\ -n0^post1+n0^0 == 0), cost: 1
   2: l0 -> l1 : executed_Drive^0'=executed_Drive^post2, y_next^0'=y_next^post2, pc_Drive^0'=pc_Drive^post2, x^0'=x^post2, is_aborted_next^0'=is_aborted_next^post2, pc_Loop^0'=pc_Loop^post2, y^0'=y^post2, n1^0'=n1^post2, pc_Plan_next^0'=pc_Plan_next^post2, is_aborted^0'=is_aborted^post2, pc_Drive_next^0'=pc_Drive_next^post2, x_next^0'=x_next^post2, n0^0'=n0^post2, pc_Plan^0'=pc_Plan^post2, (0 == 0 /\ -n0^post2+n0^0 == 0 /\ 2-pc_Plan^post2 <= 0 /\ 3-pc_Plan_next^post2 <= 0 /\ -is_aborted_next^post2+is_aborted^post2 == 0 /\ executed_Drive^0-executed_Drive^post2 == 0 /\ 1-pc_Plan_next^post2 <= 0 /\ -1+pc_Loop^post2 == 0 /\ 1-pc_Drive_next^post2 <= 0 /\ -pc_Plan_next^post2+pc_Plan^post2 == 0 /\ y^0-y_next^post2 <= 0 /\ -2+pc_Plan^post2 <= 0 /\ -n1^post2+n1^0 == 0 /\ y^post2-y_next^post2 == 0 /\ -3+pc_Drive_next^post2 <= 0 /\ -pc_Drive_next^post2+pc_Drive^post2 == 0 /\ x^0-x_next^post2 <= 0 /\ 1-is_aborted_next^post2 <= 0 /\ -1+is_aborted_next^post2 <= 0 /\ -y^0+y_next^post2 <= 0 /\ -7+pc_Plan_next^post2 <= 0 /\ -is_aborted_next^post2 <= 0 /\ x^post2-x_next^post2 == 0 /\ -7+pc_Drive_next^post2 <= 0 /\ -x^0+x_next^post2 <= 0), cost: 1
   3: l0 -> l1 : executed_Drive^0'=executed_Drive^post3, y_next^0'=y_next^post3, pc_Drive^0'=pc_Drive^post3, x^0'=x^post3, is_aborted_next^0'=is_aborted_next^post3, pc_Loop^0'=pc_Loop^post3, y^0'=y^post3, n1^0'=n1^post3, pc_Plan_next^0'=pc_Plan_next^post3, is_aborted^0'=is_aborted^post3, pc_Drive_next^0'=pc_Drive_next^post3, x_next^0'=x_next^post3, n0^0'=n0^post3, pc_Plan^0'=pc_Plan^post3, (0 == 0 /\ -1+pc_Loop^post3 == 0 /\ -1+y_next^post3-y^0 <= 0 /\ 1-pc_Drive_next^post3 <= 0 /\ is_aborted^post3-is_aborted_next^post3 == 0 /\ -pc_Plan_next^post3+pc_Plan^post3 == 0 /\ -1-x^0+x_next^post3 <= 0 /\ 1-pc_Plan_next^post3 <= 0 /\ -1+pc_Plan_next^post3 <= 0 /\ -2+pc_Plan^post3 <= 0 /\ n1^0-n1^post3 == 0 /\ -n0^post3+n0^0 == 0 /\ -x_next^post3+x^post3 == 0 /\ -7+pc_Drive_next^post3 <= 0 /\ 1-y_next^post3+y^0 <= 0 /\ pc_Drive^post3-pc_Drive_next^post3 == 0 /\ -y_next^post3+y^post3 == 0 /\ -4+pc_Drive_next^post3 <= 0 /\ 4-pc_Drive_next^post3 <= 0 /\ -1+executed_Drive^post3 == 0 /\ -7+pc_Plan_next^post3 <= 0 /\ 1+x^0-x_next^post3 <= 0 /\ 2-pc_Plan^post3 <= 0 /\ -1+is_aborted_next^post3 <= 0 /\ -is_aborted_next^post3 <= 0), cost: 1
   4: l0 -> l1 : executed_Drive^0'=executed_Drive^post4, y_next^0'=y_next^post4, pc_Drive^0'=pc_Drive^post4, x^0'=x^post4, is_aborted_next^0'=is_aborted_next^post4, pc_Loop^0'=pc_Loop^post4, y^0'=y^post4, n1^0'=n1^post4, pc_Plan_next^0'=pc_Plan_next^post4, is_aborted^0'=is_aborted^post4, pc_Drive_next^0'=pc_Drive_next^post4, x_next^0'=x_next^post4, n0^0'=n0^post4, pc_Plan^0'=pc_Plan^post4, (0 == 0 /\ -1+is_aborted_next^post4 <= 0 /\ -y_next^post4+y^post4 == 0 /\ -y^0+y_next^post4 <= 0 /\ -7+pc_Plan_next^post4 <= 0 /\ -n1^post4+n1^0 == 0 /\ -is_aborted_next^post4 <= 0 /\ -x^0+x_next^post4 <= 0 /\ 2-pc_Plan^post4 <= 0 /\ 1-pc_Drive_next^post4 <= 0 /\ y^0-y_next^post4 <= 0 /\ -is_aborted_next^post4+is_aborted^post4 == 0 /\ n0^0-n0^post4 == 0 /\ x^0-x_next^post4 <= 0 /\ executed_Drive^0-executed_Drive^post4 == 0 /\ -x_next^post4+x^post4 == 0 /\ 1-pc_Plan_next^post4 <= 0 /\ -1+pc_Plan_next^post4 <= 0 /\ -1+pc_Loop^post4 == 0 /\ -2+pc_Plan^post4 <= 0 /\ -7+pc_Drive_next^post4 <= 0 /\ pc_Plan^post4-pc_Plan_next^post4 == 0 /\ -pc_Drive_next^post4+pc_Drive^post4 == 0 /\ 5-pc_Drive_next^post4 <= 0), cost: 1
   5: l0 -> l1 : executed_Drive^0'=executed_Drive^post5, y_next^0'=y_next^post5, pc_Drive^0'=pc_Drive^post5, x^0'=x^post5, is_aborted_next^0'=is_aborted_next^post5, pc_Loop^0'=pc_Loop^post5, y^0'=y^post5, n1^0'=n1^post5, pc_Plan_next^0'=pc_Plan_next^post5, is_aborted^0'=is_aborted^post5, pc_Drive_next^0'=pc_Drive_next^post5, x_next^0'=x_next^post5, n0^0'=n0^post5, pc_Plan^0'=pc_Plan^post5, (0 == 0 /\ -n0^post5+n0^0 == 0 /\ y^0-y_next^post5 <= 0 /\ -2+pc_Plan^post5 <= 0 /\ x^0-x_next^post5 <= 0 /\ -is_aborted_next^post5 <= 0 /\ -pc_Drive_next^post5+pc_Drive^post5 == 0 /\ -7+pc_Plan_next^post5 <= 0 /\ -1+is_aborted_next^post5 <= 0 /\ executed_Drive^0-executed_Drive^post5 == 0 /\ pc_Plan^post5-pc_Plan_next^post5 == 0 /\ -y^0+y_next^post5 <= 0 /\ -1+pc_Loop^post5 == 0 /\ -x^0+x_next^post5 <= 0 /\ 1-pc_Drive_next^post5 <= 0 /\ -y_next^post5+y^post5 == 0 /\ 2-pc_Plan^post5 <= 0 /\ -3+pc_Drive_next^post5 <= 0 /\ -x_next^post5+x^post5 == 0 /\ 1-pc_Plan_next^post5 <= 0 /\ -1+pc_Plan_next^post5 <= 0 /\ -is_aborted_next^post5+is_aborted^post5 == 0 /\ -7+pc_Drive_next^post5 <= 0 /\ -n1^post5+n1^0 == 0), cost: 1
  30: l1 -> l4 : executed_Drive^0'=executed_Drive^post30, y_next^0'=y_next^post30, pc_Drive^0'=pc_Drive^post30, x^0'=x^post30, is_aborted_next^0'=is_aborted_next^post30, pc_Loop^0'=pc_Loop^post30, y^0'=y^post30, n1^0'=n1^post30, pc_Plan_next^0'=pc_Plan_next^post30, is_aborted^0'=is_aborted^post30, pc_Drive_next^0'=pc_Drive_next^post30, x_next^0'=x_next^post30, n0^0'=n0^post30, pc_Plan^0'=pc_Plan^post30, (0 == 0 /\ -2+pc_Loop^post30 == 0 /\ -7+pc_Drive_next^post30 <= 0 /\ is_aborted^post30 <= 0 /\ -1+executed_Drive^post30 == 0 /\ pc_Drive^post30-pc_Drive_next^post30 == 0 /\ -4+pc_Drive_next^post30 <= 0 /\ 4-pc_Drive_next^post30 <= 0 /\ -1-y^0+y_next^post30 <= 0 /\ -n0^post30+n0^0 == 0 /\ -7+pc_Plan_next^post30 <= 0 /\ -is_aborted_next^post30 <= 0 /\ -1+is_aborted_next^post30 <= 0 /\ 3-pc_Plan^post30 <= 0 /\ -1+x_next^post30-x^0 <= 0 /\ is_aborted^post30-is_aborted_next^post30 == 0 /\ 1-pc_Drive_next^post30 <= 0 /\ y^post30-y_next^post30 == 0 /\ 1+y^0-y_next^post30 <= 0 /\ -x_next^post30+x^post30 == 0 /\ -3+pc_Plan^post30 <= 0 /\ 1-pc_Plan_next^post30 <= 0 /\ pc_Plan^post30-pc_Plan_next^post30 == 0 /\ 1-x_next^post30+x^0 <= 0 /\ n1^0-n1^post30 == 0), cost: 1
  31: l1 -> l4 : executed_Drive^0'=executed_Drive^post31, y_next^0'=y_next^post31, pc_Drive^0'=pc_Drive^post31, x^0'=x^post31, is_aborted_next^0'=is_aborted_next^post31, pc_Loop^0'=pc_Loop^post31, y^0'=y^post31, n1^0'=n1^post31, pc_Plan_next^0'=pc_Plan_next^post31, is_aborted^0'=is_aborted^post31, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x_next^post31, n0^0'=n0^post31, pc_Plan^0'=pc_Plan^post31, (0 == 0 /\ executed_Drive^post31 == 0 /\ -pc_Plan_next^post31+pc_Plan^post31 == 0 /\ y_next^post31-y^0 <= 0 /\ 1-pc_Drive_next^post31 <= 0 /\ -y_next^post31+y^post31 == 0 /\ -3+pc_Plan^post31 <= 0 /\ -y_next^post31+y^0 <= 0 /\ is_aborted^post31 <= 0 /\ 1-pc_Plan_next^post31 <= 0 /\ 5-pc_Drive_next^post31 <= 0 /\ -1+is_aborted_next^post31 <= 0 /\ n1^0-n1^post31 == 0 /\ is_aborted^post31-is_aborted_next^post31 == 0 /\ -is_aborted_next^post31 <= 0 /\ -x^0+x_next^post31 <= 0 /\ -7+pc_Drive_next^post31 <= 0 /\ -n0^post31+n0^0 == 0 /\ pc_Drive^post31-pc_Drive_next^post31 == 0 /\ -2+pc_Loop^post31 == 0 /\ -x_next^post31+x^post31 == 0 /\ 3-pc_Plan^post31 <= 0 /\ x^0-x_next^post31 <= 0 /\ -7+pc_Plan_next^post31 <= 0), cost: 1
  32: l1 -> l4 : executed_Drive^0'=executed_Drive^post32, y_next^0'=y_next^post32, pc_Drive^0'=pc_Drive^post32, x^0'=x^post32, is_aborted_next^0'=is_aborted_next^post32, pc_Loop^0'=pc_Loop^post32, y^0'=y^post32, n1^0'=n1^post32, pc_Plan_next^0'=pc_Plan_next^post32, is_aborted^0'=is_aborted^post32, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x_next^post32, n0^0'=n0^post32, pc_Plan^0'=pc_Plan^post32, (0 == 0 /\ -n0^post32+n0^0 == 0 /\ -y_next^post32+y^post32 == 0 /\ -1+is_aborted_next^post32 <= 0 /\ executed_Drive^post32 == 0 /\ -2+pc_Loop^post32 == 0 /\ 3-pc_Plan^post32 <= 0 /\ -is_aborted_next^post32 <= 0 /\ -3+pc_Drive_next^post32 <= 0 /\ 1-pc_Plan_next^post32 <= 0 /\ -is_aborted_next^post32+is_aborted^post32 == 0 /\ -7+pc_Drive_next^post32 <= 0 /\ pc_Drive^post32-pc_Drive_next^post32 == 0 /\ is_aborted^post32 <= 0 /\ -7+pc_Plan_next^post32 <= 0 /\ -x_next^post32+x^post32 == 0 /\ y_next^post32-y^0 <= 0 /\ -3+pc_Plan^post32 <= 0 /\ x^0-x_next^post32 <= 0 /\ pc_Plan^post32-pc_Plan_next^post32 == 0 /\ n1^0-n1^post32 == 0 /\ 1-pc_Drive_next^post32 <= 0 /\ -y_next^post32+y^0 <= 0 /\ -x^0+x_next^post32 <= 0), cost: 1
  33: l1 -> l0 : executed_Drive^0'=executed_Drive^post33, y_next^0'=y_next^post33, pc_Drive^0'=pc_Drive^post33, x^0'=x^post33, is_aborted_next^0'=is_aborted_next^post33, pc_Loop^0'=pc_Loop^post33, y^0'=y^post33, n1^0'=n1^post33, pc_Plan_next^0'=pc_Plan_next^post33, is_aborted^0'=is_aborted^post33, pc_Drive_next^0'=pc_Drive_next^post33, x_next^0'=x_next^post33, n0^0'=n0^post33, pc_Plan^0'=pc_Plan^post33, (0 == 0 /\ 1-pc_Drive_next^post33 <= 0 /\ -is_aborted_next^post33+is_aborted^post33 == 0 /\ 1+y^0-y_next^post33 <= 0 /\ -n0^post33+n0^0 == 0 /\ 1-pc_Plan_next^post33 <= 0 /\ -1-x^0+x_next^post33 <= 0 /\ pc_Plan^post33-pc_Plan_next^post33 == 0 /\ x^post33-x_next^post33 == 0 /\ -7+pc_Drive_next^post33 <= 0 /\ -y_next^post33+y^post33 == 0 /\ pc_Drive^post33-pc_Drive_next^post33 == 0 /\ -n1^post33+n1^0 == 0 /\ -1+executed_Drive^post33 == 0 /\ -4+pc_Drive_next^post33 <= 0 /\ 4-pc_Drive_next^post33 <= 0 /\ -1-y^0+y_next^post33 <= 0 /\ -is_aborted_next^post33 <= 0 /\ -7+pc_Plan_next^post33 <= 0 /\ 1+x^0-x_next^post33 <= 0 /\ -1+is_aborted_next^post33 <= 0 /\ -7+pc_Loop^post33 == 0 /\ 1-is_aborted^post33 <= 0), cost: 1
  34: l1 -> l0 : executed_Drive^0'=executed_Drive^post34, y_next^0'=y_next^post34, pc_Drive^0'=pc_Drive^post34, x^0'=x^post34, is_aborted_next^0'=is_aborted_next^post34, pc_Loop^0'=pc_Loop^post34, y^0'=y^post34, n1^0'=n1^post34, pc_Plan_next^0'=pc_Plan_next^post34, is_aborted^0'=is_aborted^post34, pc_Drive_next^0'=pc_Drive_next^post34, x_next^0'=x_next^post34, n0^0'=n0^post34, pc_Plan^0'=pc_Plan^post34, (0 == 0 /\ executed_Drive^post34 == 0 /\ -1+is_aborted_next^post34 <= 0 /\ x^post34-x_next^post34 == 0 /\ -is_aborted_next^post34 <= 0 /\ 1-pc_Drive_next^post34 <= 0 /\ n1^0-n1^post34 == 0 /\ y_next^post34-y^0 <= 0 /\ -7+pc_Loop^post34 == 0 /\ -pc_Plan_next^post34+pc_Plan^post34 == 0 /\ is_aborted^post34-is_aborted_next^post34 == 0 /\ -7+pc_Plan_next^post34 <= 0 /\ y^post34-y_next^post34 == 0 /\ -y_next^post34+y^0 <= 0 /\ 1-is_aborted^post34 <= 0 /\ -n0^post34+n0^0 == 0 /\ 5-pc_Drive_next^post34 <= 0 /\ -7+pc_Drive_next^post34 <= 0 /\ -x^0+x_next^post34 <= 0 /\ pc_Drive^post34-pc_Drive_next^post34 == 0 /\ 1-pc_Plan_next^post34 <= 0 /\ x^0-x_next^post34 <= 0), cost: 1
  35: l1 -> l0 : executed_Drive^0'=executed_Drive^post35, y_next^0'=y_next^post35, pc_Drive^0'=pc_Drive^post35, x^0'=x^post35, is_aborted_next^0'=is_aborted_next^post35, pc_Loop^0'=pc_Loop^post35, y^0'=y^post35, n1^0'=n1^post35, pc_Plan_next^0'=pc_Plan_next^post35, is_aborted^0'=is_aborted^post35, pc_Drive_next^0'=pc_Drive_next^post35, x_next^0'=x_next^post35, n0^0'=n0^post35, pc_Plan^0'=pc_Plan^post35, (0 == 0 /\ -is_aborted_next^post35 <= 0 /\ x^0-x_next^post35 <= 0 /\ -7+pc_Plan_next^post35 <= 0 /\ -1+is_aborted_next^post35 <= 0 /\ -7+pc_Loop^post35 == 0 /\ -n1^post35+n1^0 == 0 /\ -y^0+y_next^post35 <= 0 /\ pc_Plan^post35-pc_Plan_next^post35 == 0 /\ 1-is_aborted^post35 <= 0 /\ -x^0+x_next^post35 <= 0 /\ -pc_Drive_next^post35+pc_Drive^post35 == 0 /\ executed_Drive^post35 == 0 /\ 1-pc_Drive_next^post35 <= 0 /\ -y_next^post35+y^post35 == 0 /\ -is_aborted_next^post35+is_aborted^post35 == 0 /\ y^0-y_next^post35 <= 0 /\ n0^0-n0^post35 == 0 /\ -3+pc_Drive_next^post35 <= 0 /\ 1-pc_Plan_next^post35 <= 0 /\ -7+pc_Drive_next^post35 <= 0 /\ -x_next^post35+x^post35 == 0), cost: 1
   6: l2 -> l3 : executed_Drive^0'=executed_Drive^post6, y_next^0'=y_next^post6, pc_Drive^0'=pc_Drive^post6, x^0'=x^post6, is_aborted_next^0'=is_aborted_next^post6, pc_Loop^0'=pc_Loop^post6, y^0'=y^post6, n1^0'=n1^post6, pc_Plan_next^0'=pc_Plan_next^post6, is_aborted^0'=is_aborted^post6, pc_Drive_next^0'=pc_Drive_next^post6, x_next^0'=x_next^post6, n0^0'=n0^post6, pc_Plan^0'=pc_Plan^post6, (0 == 0 /\ n1^0-n1^post6 == 0 /\ -7+pc_Drive_next^post6 <= 0 /\ pc_Drive^post6-pc_Drive_next^post6 == 0 /\ -x_next^post6+x^post6 == 0 /\ -1-y^0+y_next^post6 <= 0 /\ -4+pc_Loop^post6 == 0 /\ 1-executed_Drive^post6 <= 0 /\ -1+executed_Drive^post6 <= 0 /\ -1+executed_Drive^post6 == 0 /\ -4+pc_Drive_next^post6 <= 0 /\ 4-pc_Drive_next^post6 <= 0 /\ -7+pc_Drive^post6 <= 0 /\ 7-pc_Drive^post6 <= 0 /\ -7+pc_Plan_next^post6 <= 0 /\ -1+x_next^post6-x^0 <= 0 /\ -1+is_aborted_next^post6 <= 0 /\ -n0^post6+n0^0 == 0 /\ -is_aborted_next^post6 <= 0 /\ 1-pc_Drive_next^post6 <= 0 /\ 1+y^0-y_next^post6 <= 0 /\ is_aborted^post6-is_aborted_next^post6 == 0 /\ 1-pc_Plan_next^post6 <= 0 /\ 1-x_next^post6+x^0 <= 0 /\ pc_Plan^post6-pc_Plan_next^post6 == 0 /\ y^post6-y_next^post6 == 0), cost: 1
   7: l2 -> l3 : executed_Drive^0'=executed_Drive^post7, y_next^0'=y_next^post7, pc_Drive^0'=pc_Drive^post7, x^0'=x^post7, is_aborted_next^0'=is_aborted_next^post7, pc_Loop^0'=pc_Loop^post7, y^0'=y^post7, n1^0'=n1^post7, pc_Plan_next^0'=pc_Plan_next^post7, is_aborted^0'=is_aborted^post7, pc_Drive_next^0'=pc_Drive_next^post7, x_next^0'=x_next^post7, n0^0'=n0^post7, pc_Plan^0'=pc_Plan^post7, (0 == 0 /\ 5-pc_Drive_next^post7 <= 0 /\ -y^0+y_next^post7 <= 0 /\ -7+pc_Drive_next^post7 <= 0 /\ -x^0+x_next^post7 <= 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ y^0-y_next^post7 <= 0 /\ pc_Drive^post7-pc_Drive_next^post7 == 0 /\ n0^0-n0^post7 == 0 /\ x^0-x_next^post7 <= 0 /\ -n1^post7+n1^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ executed_Drive^0-executed_Drive^post7 == 0 /\ -7+pc_Drive^post7 <= 0 /\ 7-pc_Drive^post7 <= 0 /\ x^post7-x_next^post7 == 0 /\ -4+pc_Loop^post7 == 0 /\ -1+is_aborted_next^post7 <= 0 /\ pc_Plan^post7-pc_Plan_next^post7 == 0 /\ is_aborted^post7-is_aborted_next^post7 == 0 /\ -is_aborted_next^post7 <= 0 /\ 1-pc_Drive_next^post7 <= 0 /\ -y_next^post7+y^post7 == 0 /\ 1-pc_Plan_next^post7 <= 0), cost: 1
   8: l2 -> l3 : executed_Drive^0'=executed_Drive^post8, y_next^0'=y_next^post8, pc_Drive^0'=pc_Drive^post8, x^0'=x^post8, is_aborted_next^0'=is_aborted_next^post8, pc_Loop^0'=pc_Loop^post8, y^0'=y^post8, n1^0'=n1^post8, pc_Plan_next^0'=pc_Plan_next^post8, is_aborted^0'=is_aborted^post8, pc_Drive_next^0'=pc_Drive_next^post8, x_next^0'=x_next^post8, n0^0'=n0^post8, pc_Plan^0'=pc_Plan^post8, (0 == 0 /\ -3+pc_Drive_next^post8 <= 0 /\ 1-pc_Plan_next^post8 <= 0 /\ y^post8-y_next^post8 == 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ -7+pc_Drive_next^post8 <= 0 /\ -4+pc_Loop^post8 == 0 /\ -7+pc_Drive^post8 <= 0 /\ 7-pc_Drive^post8 <= 0 /\ -7+pc_Plan_next^post8 <= 0 /\ x^0-x_next^post8 <= 0 /\ pc_Plan^post8-pc_Plan_next^post8 == 0 /\ -is_aborted_next^post8+is_aborted^post8 == 0 /\ x^post8-x_next^post8 == 0 /\ -1+is_aborted_next^post8 <= 0 /\ -y^0+y_next^post8 <= 0 /\ -is_aborted_next^post8 <= 0 /\ -x^0+x_next^post8 <= 0 /\ pc_Drive^post8-pc_Drive_next^post8 == 0 /\ executed_Drive^0-executed_Drive^post8 == 0 /\ 1-pc_Drive_next^post8 <= 0 /\ -n1^post8+n1^0 == 0 /\ y^0-y_next^post8 <= 0 /\ -n0^post8+n0^0 == 0), cost: 1
   9: l2 -> l3 : executed_Drive^0'=executed_Drive^post9, y_next^0'=y_next^post9, pc_Drive^0'=pc_Drive^post9, x^0'=x^post9, is_aborted_next^0'=is_aborted_next^post9, pc_Loop^0'=pc_Loop^post9, y^0'=y^post9, n1^0'=n1^post9, pc_Plan_next^0'=pc_Plan_next^post9, is_aborted^0'=is_aborted^post9, pc_Drive_next^0'=pc_Drive_next^post9, x_next^0'=x_next^post9, n0^0'=n0^post9, pc_Plan^0'=pc_Plan^post9, (0 == 0 /\ -7+pc_Drive_next^post9 <= 0 /\ -1+executed_Drive^post9 == 0 /\ is_aborted^post9-is_aborted_next^post9 == 0 /\ pc_Drive^post9-pc_Drive_next^post9 == 0 /\ -4+pc_Drive_next^post9 <= 0 /\ 4-pc_Drive_next^post9 <= 0 /\ -1-y^0+y_next^post9 <= 0 /\ -2+pc_Drive^post9 <= 0 /\ 1-pc_Plan_next^post9 <= 0 /\ -n0^post9+n0^0 == 0 /\ -x_next^post9+x^post9 == 0 /\ n1^0-n1^post9 == 0 /\ -1+x_next^post9-x^0 <= 0 /\ y^post9-y_next^post9 == 0 /\ 1-pc_Drive_next^post9 <= 0 /\ 1+y^0-y_next^post9 <= 0 /\ 2-pc_Drive^post9 <= 0 /\ -4+pc_Loop^post9 == 0 /\ -1+is_aborted_next^post9 <= 0 /\ -is_aborted_next^post9 <= 0 /\ -7+pc_Plan_next^post9 <= 0 /\ -pc_Plan_next^post9+pc_Plan^post9 == 0 /\ 1-x_next^post9+x^0 <= 0), cost: 1
  10: l2 -> l3 : executed_Drive^0'=executed_Drive^post10, y_next^0'=y_next^post10, pc_Drive^0'=pc_Drive^post10, x^0'=x^post10, is_aborted_next^0'=is_aborted_next^post10, pc_Loop^0'=pc_Loop^post10, y^0'=y^post10, n1^0'=n1^post10, pc_Plan_next^0'=pc_Plan_next^post10, is_aborted^0'=is_aborted^post10, pc_Drive_next^0'=pc_Drive_next^post10, x_next^0'=x_next^post10, n0^0'=n0^post10, pc_Plan^0'=pc_Plan^post10, (0 == 0 /\ executed_Drive^post10 == 0 /\ 2-pc_Drive^post10 <= 0 /\ y_next^post10-y^0 <= 0 /\ -pc_Plan_next^post10+pc_Plan^post10 == 0 /\ 1-pc_Drive_next^post10 <= 0 /\ -y_next^post10+y^post10 == 0 /\ -y_next^post10+y^0 <= 0 /\ 1-pc_Plan_next^post10 <= 0 /\ 5-pc_Drive_next^post10 <= 0 /\ -1+is_aborted_next^post10 <= 0 /\ -4+pc_Loop^post10 == 0 /\ -2+pc_Drive^post10 <= 0 /\ n1^0-n1^post10 == 0 /\ is_aborted^post10-is_aborted_next^post10 == 0 /\ -is_aborted_next^post10 <= 0 /\ -x^0+x_next^post10 <= 0 /\ -7+pc_Drive_next^post10 <= 0 /\ -n0^post10+n0^0 == 0 /\ pc_Drive^post10-pc_Drive_next^post10 == 0 /\ -x_next^post10+x^post10 == 0 /\ x^0-x_next^post10 <= 0 /\ -7+pc_Plan_next^post10 <= 0), cost: 1
  11: l2 -> l3 : executed_Drive^0'=executed_Drive^post11, y_next^0'=y_next^post11, pc_Drive^0'=pc_Drive^post11, x^0'=x^post11, is_aborted_next^0'=is_aborted_next^post11, pc_Loop^0'=pc_Loop^post11, y^0'=y^post11, n1^0'=n1^post11, pc_Plan_next^0'=pc_Plan_next^post11, is_aborted^0'=is_aborted^post11, pc_Drive_next^0'=pc_Drive_next^post11, x_next^0'=x_next^post11, n0^0'=n0^post11, pc_Plan^0'=pc_Plan^post11, (0 == 0 /\ x^0-x_next^post11 <= 0 /\ y^post11-y_next^post11 == 0 /\ -1+is_aborted_next^post11 <= 0 /\ -is_aborted_next^post11 <= 0 /\ -7+pc_Plan_next^post11 <= 0 /\ -x^0+x_next^post11 <= 0 /\ 1-pc_Drive_next^post11 <= 0 /\ executed_Drive^post11 == 0 /\ -pc_Plan_next^post11+pc_Plan^post11 == 0 /\ n0^0-n0^post11 == 0 /\ 2-pc_Drive^post11 <= 0 /\ -3+pc_Drive_next^post11 <= 0 /\ 1-pc_Plan_next^post11 <= 0 /\ -y^0+y_next^post11 <= 0 /\ -7+pc_Drive_next^post11 <= 0 /\ -x_next^post11+x^post11 == 0 /\ -n1^post11+n1^0 == 0 /\ -pc_Drive_next^post11+pc_Drive^post11 == 0 /\ -4+pc_Loop^post11 == 0 /\ y^0-y_next^post11 <= 0 /\ -is_aborted_next^post11+is_aborted^post11 == 0 /\ -2+pc_Drive^post11 <= 0), cost: 1
  12: l3 -> l0 : executed_Drive^0'=executed_Drive^post12, y_next^0'=y_next^post12, pc_Drive^0'=pc_Drive^post12, x^0'=x^post12, is_aborted_next^0'=is_aborted_next^post12, pc_Loop^0'=pc_Loop^post12, y^0'=y^post12, n1^0'=n1^post12, pc_Plan_next^0'=pc_Plan_next^post12, is_aborted^0'=is_aborted^post12, pc_Drive_next^0'=pc_Drive_next^post12, x_next^0'=x_next^post12, n0^0'=n0^post12, pc_Plan^0'=pc_Plan^post12, (0 == 0 /\ pc_Drive^post12-pc_Drive_next^post12 == 0 /\ -7+pc_Plan_next^post12 <= 0 /\ 1+x^0-x_next^post12 <= 0 /\ -n0^post12+n0^0 == 0 /\ n1^0-n1^post12 == 0 /\ is_aborted^post12-is_aborted_next^post12 == 0 /\ -1+y_next^post12-y^0 <= 0 /\ 1-pc_Drive_next^post12 <= 0 /\ pc_Plan^post12-pc_Plan_next^post12 == 0 /\ -y_next^post12+y^post12 == 0 /\ -1+executed_Drive^post12 == 0 /\ -x_next^post12+x^post12 == 0 /\ 1-pc_Plan_next^post12 <= 0 /\ -1-x^0+x_next^post12 <= 0 /\ -1+is_aborted_next^post12 <= 0 /\ -4+pc_Drive_next^post12 <= 0 /\ 4-pc_Drive_next^post12 <= 0 /\ 1-is_aborted^post12 <= 0 /\ -is_aborted_next^post12 <= 0 /\ -7+pc_Drive_next^post12 <= 0 /\ 1-y_next^post12+y^0 <= 0 /\ -7+pc_Loop^post12 == 0), cost: 1
  13: l3 -> l0 : executed_Drive^0'=executed_Drive^post13, y_next^0'=y_next^post13, pc_Drive^0'=pc_Drive^post13, x^0'=x^post13, is_aborted_next^0'=is_aborted_next^post13, pc_Loop^0'=pc_Loop^post13, y^0'=y^post13, n1^0'=n1^post13, pc_Plan_next^0'=pc_Plan_next^post13, is_aborted^0'=is_aborted^post13, pc_Drive_next^0'=pc_Drive_next^post13, x_next^0'=x_next^post13, n0^0'=n0^post13, pc_Plan^0'=pc_Plan^post13, (0 == 0 /\ -x^0+x_next^post13 <= 0 /\ -7+pc_Drive_next^post13 <= 0 /\ 1-is_aborted^post13 <= 0 /\ -x_next^post13+x^post13 == 0 /\ pc_Drive^post13-pc_Drive_next^post13 == 0 /\ -7+pc_Loop^post13 == 0 /\ -y_next^post13+y^post13 == 0 /\ 5-pc_Drive_next^post13 <= 0 /\ n0^0-n0^post13 == 0 /\ x^0-x_next^post13 <= 0 /\ -n1^post13+n1^0 == 0 /\ -1+is_aborted_next^post13 <= 0 /\ -7+pc_Plan_next^post13 <= 0 /\ -is_aborted_next^post13 <= 0 /\ 1-pc_Drive_next^post13 <= 0 /\ executed_Drive^0-executed_Drive^post13 == 0 /\ y^0-y_next^post13 <= 0 /\ -is_aborted_next^post13+is_aborted^post13 == 0 /\ 1-pc_Plan_next^post13 <= 0 /\ -y^0+y_next^post13 <= 0 /\ pc_Plan^post13-pc_Plan_next^post13 == 0), cost: 1
  14: l3 -> l0 : executed_Drive^0'=executed_Drive^post14, y_next^0'=y_next^post14, pc_Drive^0'=pc_Drive^post14, x^0'=x^post14, is_aborted_next^0'=is_aborted_next^post14, pc_Loop^0'=pc_Loop^post14, y^0'=y^post14, n1^0'=n1^post14, pc_Plan_next^0'=pc_Plan_next^post14, is_aborted^0'=is_aborted^post14, pc_Drive_next^0'=pc_Drive_next^post14, x_next^0'=x_next^post14, n0^0'=n0^post14, pc_Plan^0'=pc_Plan^post14, (0 == 0 /\ -7+pc_Plan_next^post14 <= 0 /\ -is_aborted_next^post14 <= 0 /\ x^0-x_next^post14 <= 0 /\ -1+is_aborted_next^post14 <= 0 /\ pc_Plan^post14-pc_Plan_next^post14 == 0 /\ -7+pc_Loop^post14 == 0 /\ -y^0+y_next^post14 <= 0 /\ -n1^post14+n1^0 == 0 /\ 1-is_aborted^post14 <= 0 /\ -x^0+x_next^post14 <= 0 /\ -pc_Drive_next^post14+pc_Drive^post14 == 0 /\ executed_Drive^0-executed_Drive^post14 == 0 /\ 1-pc_Drive_next^post14 <= 0 /\ -y_next^post14+y^post14 == 0 /\ -is_aborted_next^post14+is_aborted^post14 == 0 /\ y^0-y_next^post14 <= 0 /\ n0^0-n0^post14 == 0 /\ -3+pc_Drive_next^post14 <= 0 /\ 1-pc_Plan_next^post14 <= 0 /\ -7+pc_Drive_next^post14 <= 0 /\ x^post14-x_next^post14 == 0), cost: 1
  15: l3 -> l0 : executed_Drive^0'=executed_Drive^post15, y_next^0'=y_next^post15, pc_Drive^0'=pc_Drive^post15, x^0'=x^post15, is_aborted_next^0'=is_aborted_next^post15, pc_Loop^0'=pc_Loop^post15, y^0'=y^post15, n1^0'=n1^post15, pc_Plan_next^0'=pc_Plan_next^post15, is_aborted^0'=is_aborted^post15, pc_Drive_next^0'=pc_Drive_next^post15, x_next^0'=x_next^post15, n0^0'=n0^post15, pc_Plan^0'=pc_Plan^post15, (0 == 0 /\ -1-y^0+y_next^post15 <= 0 /\ is_aborted^post15 <= 0 /\ -1+executed_Drive^post15 == 0 /\ -1-x^0+x_next^post15 <= 0 /\ -n0^post15+n0^0 == 0 /\ 1-pc_Plan_next^post15 <= 0 /\ -1+is_aborted_next^post15 <= 0 /\ -4+pc_Drive_next^post15 <= 0 /\ 4-pc_Drive_next^post15 <= 0 /\ -is_aborted_next^post15 <= 0 /\ -7+pc_Drive_next^post15 <= 0 /\ -7+pc_Loop^post15 == 0 /\ 1+y^0-y_next^post15 <= 0 /\ -n1^post15+n1^0 == 0 /\ -7+pc_Plan_next^post15 <= 0 /\ 1+x^0-x_next^post15 <= 0 /\ pc_Drive^post15-pc_Drive_next^post15 == 0 /\ y^post15-y_next^post15 == 0 /\ is_aborted^post15-is_aborted_next^post15 == 0 /\ x^post15-x_next^post15 == 0 /\ -x^post15+n0^0 <= 0 /\ -y^post15+n1^0 <= 0 /\ 1-pc_Drive_next^post15 <= 0 /\ pc_Plan^post15-pc_Plan_next^post15 == 0), cost: 1
  16: l3 -> l0 : executed_Drive^0'=executed_Drive^post16, y_next^0'=y_next^post16, pc_Drive^0'=pc_Drive^post16, x^0'=x^post16, is_aborted_next^0'=is_aborted_next^post16, pc_Loop^0'=pc_Loop^post16, y^0'=y^post16, n1^0'=n1^post16, pc_Plan_next^0'=pc_Plan_next^post16, is_aborted^0'=is_aborted^post16, pc_Drive_next^0'=pc_Drive_next^post16, x_next^0'=x_next^post16, n0^0'=n0^post16, pc_Plan^0'=pc_Plan^post16, (0 == 0 /\ -7+pc_Drive_next^post16 <= 0 /\ -x^0+x_next^post16 <= 0 /\ -x^post16+n0^0 <= 0 /\ pc_Drive^post16-pc_Drive_next^post16 == 0 /\ 5-pc_Drive_next^post16 <= 0 /\ is_aborted^post16-is_aborted_next^post16 == 0 /\ -7+pc_Plan_next^post16 <= 0 /\ x^0-x_next^post16 <= 0 /\ -n0^post16+n0^0 == 0 /\ -y^post16+n1^0 <= 0 /\ n1^0-n1^post16 == 0 /\ executed_Drive^0-executed_Drive^post16 == 0 /\ is_aborted^post16 <= 0 /\ -7+pc_Loop^post16 == 0 /\ 1-pc_Drive_next^post16 <= 0 /\ y^0-y_next^post16 <= 0 /\ y^post16-y_next^post16 == 0 /\ 1-pc_Plan_next^post16 <= 0 /\ x^post16-x_next^post16 == 0 /\ pc_Plan^post16-pc_Plan_next^post16 == 0 /\ -1+is_aborted_next^post16 <= 0 /\ -y^0+y_next^post16 <= 0 /\ -is_aborted_next^post16 <= 0), cost: 1
  17: l3 -> l0 : executed_Drive^0'=executed_Drive^post17, y_next^0'=y_next^post17, pc_Drive^0'=pc_Drive^post17, x^0'=x^post17, is_aborted_next^0'=is_aborted_next^post17, pc_Loop^0'=pc_Loop^post17, y^0'=y^post17, n1^0'=n1^post17, pc_Plan_next^0'=pc_Plan_next^post17, is_aborted^0'=is_aborted^post17, pc_Drive_next^0'=pc_Drive_next^post17, x_next^0'=x_next^post17, n0^0'=n0^post17, pc_Plan^0'=pc_Plan^post17, (0 == 0 /\ x^post17-x_next^post17 == 0 /\ -n1^post17+n1^0 == 0 /\ 1-pc_Drive_next^post17 <= 0 /\ pc_Plan^post17-pc_Plan_next^post17 == 0 /\ -x^post17+n0^0 <= 0 /\ -y^post17+n1^0 <= 0 /\ 1-pc_Plan_next^post17 <= 0 /\ y^post17-y_next^post17 == 0 /\ -1+is_aborted_next^post17 <= 0 /\ -y^0+y_next^post17 <= 0 /\ -is_aborted_next^post17 <= 0 /\ -x^0+x_next^post17 <= 0 /\ -7+pc_Drive_next^post17 <= 0 /\ -7+pc_Loop^post17 == 0 /\ -n0^post17+n0^0 == 0 /\ y^0-y_next^post17 <= 0 /\ x^0-x_next^post17 <= 0 /\ -7+pc_Plan_next^post17 <= 0 /\ is_aborted^post17 <= 0 /\ -3+pc_Drive_next^post17 <= 0 /\ executed_Drive^0-executed_Drive^post17 == 0 /\ pc_Drive^post17-pc_Drive_next^post17 == 0 /\ -is_aborted_next^post17+is_aborted^post17 == 0), cost: 1
  18: l3 -> l4 : executed_Drive^0'=executed_Drive^post18, y_next^0'=y_next^post18, pc_Drive^0'=pc_Drive^post18, x^0'=x^post18, is_aborted_next^0'=is_aborted_next^post18, pc_Loop^0'=pc_Loop^post18, y^0'=y^post18, n1^0'=n1^post18, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=is_aborted^post18, pc_Drive_next^0'=pc_Drive_next^post18, x_next^0'=x_next^post18, n0^0'=n0^post18, pc_Plan^0'=pc_Plan^post18, (0 == 0 /\ -1-x^0+x_next^post18 <= 0 /\ -y_next^post18+y^post18 == 0 /\ -is_aborted_next^post18+is_aborted^post18 == 0 /\ -7+pc_Plan_next^post18 <= 0 /\ pc_Plan^post18-pc_Plan_next^post18 == 0 /\ x^post18-x_next^post18 == 0 /\ -n1^post18+n1^0 == 0 /\ 1+x^post18-n0^0 <= 0 /\ -7+pc_Drive_next^post18 <= 0 /\ -4+pc_Drive_next^post18 <= 0 /\ 4-pc_Drive_next^post18 <= 0 /\ 1-executed_Drive^10 <= 0 /\ -1+executed_Drive^10 <= 0 /\ -1+executed_Drive^10 == 0 /\ -1-y^0+y_next^post18 <= 0 /\ 1+x^0-x_next^post18 <= 0 /\ 1-pc_Plan_next^post18 <= 0 /\ executed_Drive^post18 == 0 /\ 1-n1^0+y^post18 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_Drive_next^post18 <= 0 /\ -n0^post18+n0^0 == 0 /\ -1+is_aborted_next^post18 <= 0 /\ pc_Drive^post18-pc_Drive_next^post18 == 0 /\ -is_aborted_next^post18 <= 0 /\ 1+y^0-y_next^post18 <= 0 /\ is_aborted^post18 <= 0 /\ 1-n0^0 <= 0 /\ -2+pc_Loop^post18 == 0), cost: 1
  19: l3 -> l4 : executed_Drive^0'=executed_Drive^post19, y_next^0'=y_next^post19, pc_Drive^0'=pc_Drive^post19, x^0'=x^post19, is_aborted_next^0'=is_aborted_next^post19, pc_Loop^0'=pc_Loop^post19, y^0'=y^post19, n1^0'=n1^post19, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=is_aborted^post19, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x_next^post19, n0^0'=n0^post19, pc_Plan^0'=pc_Plan^post19, (0 == 0 /\ -n0^post19+n0^0 == 0 /\ pc_Drive^post19-pc_Drive_next^post19 == 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -is_aborted_next^post19 <= 0 /\ -1+is_aborted_next^post19 <= 0 /\ x^0-x_next^post19 <= 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ is_aborted^post19 <= 0 /\ pc_Plan^post19-pc_Plan_next^post19 == 0 /\ n1^0-n1^post19 == 0 /\ 1+y^post19-n1^0 <= 0 /\ 1-pc_Drive_next^post19 <= 0 /\ -x^0+x_next^post19 <= 0 /\ -y_next^post19+y^post19 == 0 /\ -2+pc_Loop^post19 == 0 /\ y_next^post19-y^0 <= 0 /\ -x_next^post19+x^post19 == 0 /\ is_aborted^post19-is_aborted_next^post19 == 0 /\ 1-n1^0 <= 0 /\ 1-pc_Plan_next^post19 <= 0 /\ 5-pc_Drive_next^post19 <= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ executed_Drive^post19 == 0 /\ -y_next^post19+y^0 <= 0 /\ 1+x^post19-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 1
  20: l3 -> l4 : executed_Drive^0'=executed_Drive^post20, y_next^0'=y_next^post20, pc_Drive^0'=pc_Drive^post20, x^0'=x^post20, is_aborted_next^0'=is_aborted_next^post20, pc_Loop^0'=pc_Loop^post20, y^0'=y^post20, n1^0'=n1^post20, pc_Plan_next^0'=pc_Plan_next^post20, is_aborted^0'=is_aborted^post20, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x_next^post20, n0^0'=n0^post20, pc_Plan^0'=pc_Plan^post20, (0 == 0 /\ -x^0+x_next^post20 <= 0 /\ -7+pc_Drive_next^post20 <= 0 /\ y^0-y^post20 == 0 /\ y^0-y_next^post20 <= 0 /\ pc_Drive^post20-pc_Drive_next^post20 == 0 /\ executed_Drive^post20 == 0 /\ x^0-x_next^post20 <= 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ -7+pc_Plan_next^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -pc_Plan_next^post20+pc_Plan^post20 == 0 /\ -n0^post20+n0^0 == 0 /\ -y^0+y_next^post20 <= 0 /\ -1+is_aborted_next^post20 <= 0 /\ -2+pc_Loop^post20 == 0 /\ -is_aborted_next^post20 <= 0 /\ 1-pc_Drive_next^post20 <= 0 /\ is_aborted^post20 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -is_aborted_next^post20+is_aborted^post20 == 0 /\ 1-pc_Plan_next^post20 <= 0 /\ x^0-x^post20 == 0 /\ 1+x^0-n0^0 <= 0 /\ n1^0-n1^post20 == 0 /\ 1-n0^0 <= 0), cost: 1
  24: l4 -> l5 : executed_Drive^0'=executed_Drive^post24, y_next^0'=y_next^post24, pc_Drive^0'=pc_Drive^post24, x^0'=x^post24, is_aborted_next^0'=is_aborted_next^post24, pc_Loop^0'=pc_Loop^post24, y^0'=y^post24, n1^0'=n1^post24, pc_Plan_next^0'=pc_Plan_next^post24, is_aborted^0'=is_aborted^post24, pc_Drive_next^0'=pc_Drive_next^post24, x_next^0'=x_next^post24, n0^0'=n0^post24, pc_Plan^0'=pc_Plan^post24, (0 == 0 /\ -is_aborted_next^post24+is_aborted^post24 == 0 /\ pc_Plan^post24-pc_Plan_next^post24 == 0 /\ x^post24-x_next^post24 == 0 /\ 1-pc_Drive_next^post24 <= 0 /\ -y_next^post24+y^post24 == 0 /\ -1+executed_Drive^post24 == 0 /\ -1-y^0+y_next^post24 <= 0 /\ -n1^post24+n1^0 == 0 /\ 1-pc_Plan_next^post24 <= 0 /\ -1-x^0+x_next^post24 <= 0 /\ -n0^post24+n0^0 == 0 /\ -4+pc_Drive_next^post24 <= 0 /\ 4-pc_Drive_next^post24 <= 0 /\ -7+pc_Drive_next^post24 <= 0 /\ -3+pc_Loop^post24 == 0 /\ pc_Drive^post24-pc_Drive_next^post24 == 0 /\ 1+y^0-y_next^post24 <= 0 /\ -is_aborted_next^post24 <= 0 /\ is_aborted^post24 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ 1+x^0-x_next^post24 <= 0 /\ -1+is_aborted_next^post24 <= 0), cost: 1
  25: l4 -> l5 : executed_Drive^0'=executed_Drive^post25, y_next^0'=y_next^post25, pc_Drive^0'=pc_Drive^post25, x^0'=x^post25, is_aborted_next^0'=is_aborted_next^post25, pc_Loop^0'=pc_Loop^post25, y^0'=y^post25, n1^0'=n1^post25, pc_Plan_next^0'=pc_Plan_next^post25, is_aborted^0'=is_aborted^post25, pc_Drive_next^0'=pc_Drive_next^post25, x_next^0'=x_next^post25, n0^0'=n0^post25, pc_Plan^0'=pc_Plan^post25, (0 == 0 /\ y^post25-y_next^post25 == 0 /\ 1-pc_Plan_next^post25 <= 0 /\ -1+is_aborted_next^post25 <= 0 /\ -y_next^post25+y^0 <= 0 /\ -is_aborted_next^post25 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ is_aborted^post25-is_aborted_next^post25 == 0 /\ y_next^post25-y^0 <= 0 /\ 5-pc_Drive_next^post25 <= 0 /\ is_aborted^post25 <= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -3+pc_Loop^post25 == 0 /\ x^0-x_next^post25 <= 0 /\ pc_Plan^post25-pc_Plan_next^post25 == 0 /\ x^post25-x_next^post25 == 0 /\ n1^0-n1^post25 == 0 /\ 1-pc_Drive_next^post25 <= 0 /\ executed_Drive^0-executed_Drive^post25 == 0 /\ -n0^post25+n0^0 == 0 /\ -x^0+x_next^post25 <= 0 /\ pc_Drive^post25-pc_Drive_next^post25 == 0), cost: 1
  26: l4 -> l5 : executed_Drive^0'=executed_Drive^post26, y_next^0'=y_next^post26, pc_Drive^0'=pc_Drive^post26, x^0'=x^post26, is_aborted_next^0'=is_aborted_next^post26, pc_Loop^0'=pc_Loop^post26, y^0'=y^post26, n1^0'=n1^post26, pc_Plan_next^0'=pc_Plan_next^post26, is_aborted^0'=is_aborted^post26, pc_Drive_next^0'=pc_Drive_next^post26, x_next^0'=x_next^post26, n0^0'=n0^post26, pc_Plan^0'=pc_Plan^post26, (0 == 0 /\ y^0-y_next^post26 <= 0 /\ x^0-x_next^post26 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -pc_Drive_next^post26+pc_Drive^post26 == 0 /\ executed_Drive^0-executed_Drive^post26 == 0 /\ -is_aborted_next^post26+is_aborted^post26 == 0 /\ -n0^post26+n0^0 == 0 /\ pc_Plan^post26-pc_Plan_next^post26 == 0 /\ -y^0+y_next^post26 <= 0 /\ -x^0+x_next^post26 <= 0 /\ 1-pc_Drive_next^post26 <= 0 /\ -3+pc_Loop^post26 == 0 /\ -y_next^post26+y^post26 == 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -x_next^post26+x^post26 == 0 /\ 1-pc_Plan_next^post26 <= 0 /\ -1+is_aborted_next^post26 <= 0 /\ is_aborted^post26 <= 0 /\ -is_aborted_next^post26 <= 0 /\ -7+pc_Drive_next^post26 <= 0 /\ -n1^post26+n1^0 == 0), cost: 1
  27: l4 -> l0 : executed_Drive^0'=executed_Drive^post27, y_next^0'=y_next^post27, pc_Drive^0'=pc_Drive^post27, x^0'=x^post27, is_aborted_next^0'=is_aborted_next^post27, pc_Loop^0'=pc_Loop^post27, y^0'=y^post27, n1^0'=n1^post27, pc_Plan_next^0'=pc_Plan_next^post27, is_aborted^0'=is_aborted^post27, pc_Drive_next^0'=pc_Drive_next^post27, x_next^0'=x_next^post27, n0^0'=n0^post27, pc_Plan^0'=pc_Plan^post27, (0 == 0 /\ -7+pc_Drive_next^post27 <= 0 /\ n1^0-n1^post27 == 0 /\ pc_Drive^post27-pc_Drive_next^post27 == 0 /\ -7+pc_Loop^post27 == 0 /\ -4+pc_Drive_next^post27 <= 0 /\ 4-pc_Drive_next^post27 <= 0 /\ -1+executed_Drive^post27 == 0 /\ -1-y^0+y_next^post27 <= 0 /\ x^post27-x_next^post27 == 0 /\ -1-x^0+x_next^post27 <= 0 /\ -1+is_aborted_next^post27 <= 0 /\ 1-is_aborted^post27 <= 0 /\ -7+pc_Plan_next^post27 <= 0 /\ -is_aborted_next^post27 <= 0 /\ pc_Plan^post27-pc_Plan_next^post27 == 0 /\ -n0^post27+n0^0 == 0 /\ 1-pc_Drive_next^post27 <= 0 /\ y^post27-y_next^post27 == 0 /\ is_aborted^post27-is_aborted_next^post27 == 0 /\ 1+y^0-y_next^post27 <= 0 /\ 1+x^0-x_next^post27 <= 0 /\ 1-pc_Plan_next^post27 <= 0), cost: 1
  28: l4 -> l0 : executed_Drive^0'=executed_Drive^post28, y_next^0'=y_next^post28, pc_Drive^0'=pc_Drive^post28, x^0'=x^post28, is_aborted_next^0'=is_aborted_next^post28, pc_Loop^0'=pc_Loop^post28, y^0'=y^post28, n1^0'=n1^post28, pc_Plan_next^0'=pc_Plan_next^post28, is_aborted^0'=is_aborted^post28, pc_Drive_next^0'=pc_Drive_next^post28, x_next^0'=x_next^post28, n0^0'=n0^post28, pc_Plan^0'=pc_Plan^post28, (0 == 0 /\ -7+pc_Plan_next^post28 <= 0 /\ -is_aborted_next^post28 <= 0 /\ -1+is_aborted_next^post28 <= 0 /\ -y_next^post28+y^0 <= 0 /\ x_next^post28-x^0 <= 0 /\ pc_Plan^post28-pc_Plan_next^post28 == 0 /\ -7+pc_Loop^post28 == 0 /\ 1-is_aborted^post28 <= 0 /\ n1^0-n1^post28 == 0 /\ executed_Drive^0-executed_Drive^post28 == 0 /\ is_aborted^post28-is_aborted_next^post28 == 0 /\ 1-pc_Drive_next^post28 <= 0 /\ -y_next^post28+y^post28 == 0 /\ y_next^post28-y^0 <= 0 /\ -x_next^post28+x^0 <= 0 /\ pc_Drive^post28-pc_Drive_next^post28 == 0 /\ -x_next^post28+x^post28 == 0 /\ 1-pc_Plan_next^post28 <= 0 /\ -7+pc_Drive_next^post28 <= 0 /\ -n0^post28+n0^0 == 0 /\ 5-pc_Drive_next^post28 <= 0), cost: 1
  29: l4 -> l0 : executed_Drive^0'=executed_Drive^post29, y_next^0'=y_next^post29, pc_Drive^0'=pc_Drive^post29, x^0'=x^post29, is_aborted_next^0'=is_aborted_next^post29, pc_Loop^0'=pc_Loop^post29, y^0'=y^post29, n1^0'=n1^post29, pc_Plan_next^0'=pc_Plan_next^post29, is_aborted^0'=is_aborted^post29, pc_Drive_next^0'=pc_Drive_next^post29, x_next^0'=x_next^post29, n0^0'=n0^post29, pc_Plan^0'=pc_Plan^post29, (0 == 0 /\ -pc_Drive_next^post29+pc_Drive^post29 == 0 /\ y^0-y_next^post29 <= 0 /\ -x_next^post29+x^post29 == 0 /\ -3+pc_Drive_next^post29 <= 0 /\ 1-pc_Plan_next^post29 <= 0 /\ -n0^post29+n0^0 == 0 /\ -y^0+y_next^post29 <= 0 /\ -1+is_aborted_next^post29 <= 0 /\ 1-is_aborted^post29 <= 0 /\ -is_aborted_next^post29 <= 0 /\ -7+pc_Drive_next^post29 <= 0 /\ -7+pc_Loop^post29 == 0 /\ x^0-x_next^post29 <= 0 /\ -7+pc_Plan_next^post29 <= 0 /\ -is_aborted_next^post29+is_aborted^post29 == 0 /\ executed_Drive^0-executed_Drive^post29 == 0 /\ y^post29-y_next^post29 == 0 /\ n1^0-n1^post29 == 0 /\ -x^0+x_next^post29 <= 0 /\ 1-pc_Drive_next^post29 <= 0 /\ pc_Plan^post29-pc_Plan_next^post29 == 0), cost: 1
  21: l5 -> l2 : executed_Drive^0'=executed_Drive^post21, y_next^0'=y_next^post21, pc_Drive^0'=pc_Drive^post21, x^0'=x^post21, is_aborted_next^0'=is_aborted_next^post21, pc_Loop^0'=pc_Loop^post21, y^0'=y^post21, n1^0'=n1^post21, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=is_aborted^post21, pc_Drive_next^0'=pc_Drive_next^post21, x_next^0'=x_next^post21, n0^0'=n0^post21, pc_Plan^0'=pc_Plan^post21, (0 == 0 /\ -6+pc_Loop^post21 == 0 /\ -4+pc_Drive_next^post21 <= 0 /\ 4-pc_Drive_next^post21 <= 0 /\ 1-is_aborted^post21 <= 0 /\ n1^0-n1^post21 == 0 /\ -7+pc_Drive_next^post21 <= 0 /\ -1+x_next^post21-x^0 <= 0 /\ pc_Drive^post21-pc_Drive_next^post21 == 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -is_aborted_next^post21 <= 0 /\ -x_next^post21+x^post21 == 0 /\ -1+is_aborted_next^post21 <= 0 /\ is_aborted^post21-is_aborted_next^post21 == 0 /\ 1-y_next^post21+y^0 <= 0 /\ -n0^post21+n0^0 == 0 /\ pc_Plan^post21-pc_Plan_next^post21 == 0 /\ 1-pc_Drive_next^post21 <= 0 /\ 1-x_next^post21+x^0 <= 0 /\ -y_next^post21+y^post21 == 0 /\ -1+executed_Drive^post21 == 0 /\ -1+y_next^post21-y^0 <= 0 /\ 1-pc_Plan_next^post21 <= 0), cost: 1
  22: l5 -> l2 : executed_Drive^0'=executed_Drive^post22, y_next^0'=y_next^post22, pc_Drive^0'=pc_Drive^post22, x^0'=x^post22, is_aborted_next^0'=is_aborted_next^post22, pc_Loop^0'=pc_Loop^post22, y^0'=y^post22, n1^0'=n1^post22, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=is_aborted^post22, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=x_next^post22, n0^0'=n0^post22, pc_Plan^0'=pc_Plan^post22, (0 == 0 /\ 1-pc_Plan_next^post22 <= 0 /\ -y_next^post22+y^0 <= 0 /\ -x_next^post22+x^post22 == 0 /\ -6+pc_Loop^post22 == 0 /\ -7+pc_Drive_next^post22 <= 0 /\ y_next^post22-y^0 <= 0 /\ 5-pc_Drive_next^post22 <= 0 /\ x^0-x_next^post22 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ pc_Plan^post22-pc_Plan_next^post22 == 0 /\ -1+is_aborted_next^post22 <= 0 /\ 1-is_aborted^post22 <= 0 /\ n1^0-n1^post22 == 0 /\ -is_aborted_next^post22 <= 0 /\ -x^0+x_next^post22 <= 0 /\ 1-pc_Drive_next^post22 <= 0 /\ executed_Drive^0-executed_Drive^post22 == 0 /\ pc_Drive^post22-pc_Drive_next^post22 == 0 /\ -y_next^post22+y^post22 == 0 /\ is_aborted^post22-is_aborted_next^post22 == 0 /\ -n0^post22+n0^0 == 0), cost: 1
  23: l5 -> l2 : executed_Drive^0'=executed_Drive^post23, y_next^0'=y_next^post23, pc_Drive^0'=pc_Drive^post23, x^0'=x^post23, is_aborted_next^0'=is_aborted_next^post23, pc_Loop^0'=pc_Loop^post23, y^0'=y^post23, n1^0'=n1^post23, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=is_aborted^post23, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=x_next^post23, n0^0'=n0^post23, pc_Plan^0'=pc_Plan^post23, (0 == 0 /\ -x^0+x_next^post23 <= 0 /\ -7+pc_Drive_next^post23 <= 0 /\ pc_Drive^post23-pc_Drive_next^post23 == 0 /\ -y_next^post23+y^post23 == 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -is_aborted_next^post23 <= 0 /\ -n0^post23+n0^0 == 0 /\ -1+is_aborted_next^post23 <= 0 /\ x^0-x_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-is_aborted^post23 <= 0 /\ -6+pc_Loop^post23 == 0 /\ 1-pc_Drive_next^post23 <= 0 /\ executed_Drive^0-executed_Drive^post23 == 0 /\ y^0-y_next^post23 <= 0 /\ -is_aborted_next^post23+is_aborted^post23 == 0 /\ -x_next^post23+x^post23 == 0 /\ 1-pc_Plan_next^post23 <= 0 /\ -y^0+y_next^post23 <= 0 /\ pc_Plan^post23-pc_Plan_next^post23 == 0 /\ n1^0-n1^post23 == 0), cost: 1
  36: l6 -> l1 : executed_Drive^0'=executed_Drive^post36, y_next^0'=y_next^post36, pc_Drive^0'=pc_Drive^post36, x^0'=x^post36, is_aborted_next^0'=is_aborted_next^post36, pc_Loop^0'=pc_Loop^post36, y^0'=y^post36, n1^0'=n1^post36, pc_Plan_next^0'=pc_Plan_next^post36, is_aborted^0'=is_aborted^post36, pc_Drive_next^0'=pc_Drive_next^post36, x_next^0'=x_next^post36, n0^0'=n0^post36, pc_Plan^0'=pc_Plan^post36, (pc_Loop^0-pc_Loop^post36 == 0 /\ is_aborted_next^0-is_aborted_next^post36 == 0 /\ x_next^0-x_next^post36 == 0 /\ x^0-x^post36 == 0 /\ -n0^post36+n0^0 == 0 /\ pc_Drive^0-pc_Drive^post36 == 0 /\ -n1^post36+n1^0 == 0 /\ y_next^0-y_next^post36 == 0 /\ -is_aborted^post36+is_aborted^0 == 0 /\ executed_Drive^0-executed_Drive^post36 == 0 /\ -pc_Drive_next^post36+pc_Drive_next^0 == 0 /\ -pc_Plan^post36+pc_Plan^0 == 0 /\ pc_Plan_next^0-pc_Plan_next^post36 == 0 /\ -y^post36+y^0 == 0), cost: 1
  37: l7 -> l6 : executed_Drive^0'=executed_Drive^post37, y_next^0'=y_next^post37, pc_Drive^0'=pc_Drive^post37, x^0'=x^post37, is_aborted_next^0'=is_aborted_next^post37, pc_Loop^0'=pc_Loop^post37, y^0'=y^post37, n1^0'=n1^post37, pc_Plan_next^0'=pc_Plan_next^post37, is_aborted^0'=is_aborted^post37, pc_Drive_next^0'=pc_Drive_next^post37, x_next^0'=x_next^post37, n0^0'=n0^post37, pc_Plan^0'=pc_Plan^post37, (n1^0-n1^post37 == 0 /\ pc_Plan_next^0-pc_Plan_next^post37 == 0 /\ is_aborted_next^0-is_aborted_next^post37 == 0 /\ -pc_Drive_next^post37+pc_Drive_next^0 == 0 /\ pc_Drive^0-pc_Drive^post37 == 0 /\ -is_aborted^post37+is_aborted^0 == 0 /\ pc_Loop^0-pc_Loop^post37 == 0 /\ executed_Drive^0-executed_Drive^post37 == 0 /\ -x_next^post37+x_next^0 == 0 /\ -n0^post37+n0^0 == 0 /\ -y^post37+y^0 == 0 /\ -pc_Plan^post37+pc_Plan^0 == 0 /\ -y_next^post37+y_next^0 == 0 /\ x^0-x^post37 == 0), cost: 1


Removed rules with unsatisfiable guard
Start location: l7
  30: l1 -> l4 : executed_Drive^0'=executed_Drive^post30, y_next^0'=y_next^post30, pc_Drive^0'=pc_Drive^post30, x^0'=x^post30, is_aborted_next^0'=is_aborted_next^post30, pc_Loop^0'=pc_Loop^post30, y^0'=y^post30, n1^0'=n1^post30, pc_Plan_next^0'=pc_Plan_next^post30, is_aborted^0'=is_aborted^post30, pc_Drive_next^0'=pc_Drive_next^post30, x_next^0'=x_next^post30, n0^0'=n0^post30, pc_Plan^0'=pc_Plan^post30, (0 == 0 /\ -2+pc_Loop^post30 == 0 /\ -7+pc_Drive_next^post30 <= 0 /\ is_aborted^post30 <= 0 /\ -1+executed_Drive^post30 == 0 /\ pc_Drive^post30-pc_Drive_next^post30 == 0 /\ -4+pc_Drive_next^post30 <= 0 /\ 4-pc_Drive_next^post30 <= 0 /\ -1-y^0+y_next^post30 <= 0 /\ -n0^post30+n0^0 == 0 /\ -7+pc_Plan_next^post30 <= 0 /\ -is_aborted_next^post30 <= 0 /\ -1+is_aborted_next^post30 <= 0 /\ 3-pc_Plan^post30 <= 0 /\ -1+x_next^post30-x^0 <= 0 /\ is_aborted^post30-is_aborted_next^post30 == 0 /\ 1-pc_Drive_next^post30 <= 0 /\ y^post30-y_next^post30 == 0 /\ 1+y^0-y_next^post30 <= 0 /\ -x_next^post30+x^post30 == 0 /\ -3+pc_Plan^post30 <= 0 /\ 1-pc_Plan_next^post30 <= 0 /\ pc_Plan^post30-pc_Plan_next^post30 == 0 /\ 1-x_next^post30+x^0 <= 0 /\ n1^0-n1^post30 == 0), cost: 1
  31: l1 -> l4 : executed_Drive^0'=executed_Drive^post31, y_next^0'=y_next^post31, pc_Drive^0'=pc_Drive^post31, x^0'=x^post31, is_aborted_next^0'=is_aborted_next^post31, pc_Loop^0'=pc_Loop^post31, y^0'=y^post31, n1^0'=n1^post31, pc_Plan_next^0'=pc_Plan_next^post31, is_aborted^0'=is_aborted^post31, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x_next^post31, n0^0'=n0^post31, pc_Plan^0'=pc_Plan^post31, (0 == 0 /\ executed_Drive^post31 == 0 /\ -pc_Plan_next^post31+pc_Plan^post31 == 0 /\ y_next^post31-y^0 <= 0 /\ 1-pc_Drive_next^post31 <= 0 /\ -y_next^post31+y^post31 == 0 /\ -3+pc_Plan^post31 <= 0 /\ -y_next^post31+y^0 <= 0 /\ is_aborted^post31 <= 0 /\ 1-pc_Plan_next^post31 <= 0 /\ 5-pc_Drive_next^post31 <= 0 /\ -1+is_aborted_next^post31 <= 0 /\ n1^0-n1^post31 == 0 /\ is_aborted^post31-is_aborted_next^post31 == 0 /\ -is_aborted_next^post31 <= 0 /\ -x^0+x_next^post31 <= 0 /\ -7+pc_Drive_next^post31 <= 0 /\ -n0^post31+n0^0 == 0 /\ pc_Drive^post31-pc_Drive_next^post31 == 0 /\ -2+pc_Loop^post31 == 0 /\ -x_next^post31+x^post31 == 0 /\ 3-pc_Plan^post31 <= 0 /\ x^0-x_next^post31 <= 0 /\ -7+pc_Plan_next^post31 <= 0), cost: 1
  32: l1 -> l4 : executed_Drive^0'=executed_Drive^post32, y_next^0'=y_next^post32, pc_Drive^0'=pc_Drive^post32, x^0'=x^post32, is_aborted_next^0'=is_aborted_next^post32, pc_Loop^0'=pc_Loop^post32, y^0'=y^post32, n1^0'=n1^post32, pc_Plan_next^0'=pc_Plan_next^post32, is_aborted^0'=is_aborted^post32, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x_next^post32, n0^0'=n0^post32, pc_Plan^0'=pc_Plan^post32, (0 == 0 /\ -n0^post32+n0^0 == 0 /\ -y_next^post32+y^post32 == 0 /\ -1+is_aborted_next^post32 <= 0 /\ executed_Drive^post32 == 0 /\ -2+pc_Loop^post32 == 0 /\ 3-pc_Plan^post32 <= 0 /\ -is_aborted_next^post32 <= 0 /\ -3+pc_Drive_next^post32 <= 0 /\ 1-pc_Plan_next^post32 <= 0 /\ -is_aborted_next^post32+is_aborted^post32 == 0 /\ -7+pc_Drive_next^post32 <= 0 /\ pc_Drive^post32-pc_Drive_next^post32 == 0 /\ is_aborted^post32 <= 0 /\ -7+pc_Plan_next^post32 <= 0 /\ -x_next^post32+x^post32 == 0 /\ y_next^post32-y^0 <= 0 /\ -3+pc_Plan^post32 <= 0 /\ x^0-x_next^post32 <= 0 /\ pc_Plan^post32-pc_Plan_next^post32 == 0 /\ n1^0-n1^post32 == 0 /\ 1-pc_Drive_next^post32 <= 0 /\ -y_next^post32+y^0 <= 0 /\ -x^0+x_next^post32 <= 0), cost: 1
  33: l1 -> l0 : executed_Drive^0'=executed_Drive^post33, y_next^0'=y_next^post33, pc_Drive^0'=pc_Drive^post33, x^0'=x^post33, is_aborted_next^0'=is_aborted_next^post33, pc_Loop^0'=pc_Loop^post33, y^0'=y^post33, n1^0'=n1^post33, pc_Plan_next^0'=pc_Plan_next^post33, is_aborted^0'=is_aborted^post33, pc_Drive_next^0'=pc_Drive_next^post33, x_next^0'=x_next^post33, n0^0'=n0^post33, pc_Plan^0'=pc_Plan^post33, (0 == 0 /\ 1-pc_Drive_next^post33 <= 0 /\ -is_aborted_next^post33+is_aborted^post33 == 0 /\ 1+y^0-y_next^post33 <= 0 /\ -n0^post33+n0^0 == 0 /\ 1-pc_Plan_next^post33 <= 0 /\ -1-x^0+x_next^post33 <= 0 /\ pc_Plan^post33-pc_Plan_next^post33 == 0 /\ x^post33-x_next^post33 == 0 /\ -7+pc_Drive_next^post33 <= 0 /\ -y_next^post33+y^post33 == 0 /\ pc_Drive^post33-pc_Drive_next^post33 == 0 /\ -n1^post33+n1^0 == 0 /\ -1+executed_Drive^post33 == 0 /\ -4+pc_Drive_next^post33 <= 0 /\ 4-pc_Drive_next^post33 <= 0 /\ -1-y^0+y_next^post33 <= 0 /\ -is_aborted_next^post33 <= 0 /\ -7+pc_Plan_next^post33 <= 0 /\ 1+x^0-x_next^post33 <= 0 /\ -1+is_aborted_next^post33 <= 0 /\ -7+pc_Loop^post33 == 0 /\ 1-is_aborted^post33 <= 0), cost: 1
  34: l1 -> l0 : executed_Drive^0'=executed_Drive^post34, y_next^0'=y_next^post34, pc_Drive^0'=pc_Drive^post34, x^0'=x^post34, is_aborted_next^0'=is_aborted_next^post34, pc_Loop^0'=pc_Loop^post34, y^0'=y^post34, n1^0'=n1^post34, pc_Plan_next^0'=pc_Plan_next^post34, is_aborted^0'=is_aborted^post34, pc_Drive_next^0'=pc_Drive_next^post34, x_next^0'=x_next^post34, n0^0'=n0^post34, pc_Plan^0'=pc_Plan^post34, (0 == 0 /\ executed_Drive^post34 == 0 /\ -1+is_aborted_next^post34 <= 0 /\ x^post34-x_next^post34 == 0 /\ -is_aborted_next^post34 <= 0 /\ 1-pc_Drive_next^post34 <= 0 /\ n1^0-n1^post34 == 0 /\ y_next^post34-y^0 <= 0 /\ -7+pc_Loop^post34 == 0 /\ -pc_Plan_next^post34+pc_Plan^post34 == 0 /\ is_aborted^post34-is_aborted_next^post34 == 0 /\ -7+pc_Plan_next^post34 <= 0 /\ y^post34-y_next^post34 == 0 /\ -y_next^post34+y^0 <= 0 /\ 1-is_aborted^post34 <= 0 /\ -n0^post34+n0^0 == 0 /\ 5-pc_Drive_next^post34 <= 0 /\ -7+pc_Drive_next^post34 <= 0 /\ -x^0+x_next^post34 <= 0 /\ pc_Drive^post34-pc_Drive_next^post34 == 0 /\ 1-pc_Plan_next^post34 <= 0 /\ x^0-x_next^post34 <= 0), cost: 1
  35: l1 -> l0 : executed_Drive^0'=executed_Drive^post35, y_next^0'=y_next^post35, pc_Drive^0'=pc_Drive^post35, x^0'=x^post35, is_aborted_next^0'=is_aborted_next^post35, pc_Loop^0'=pc_Loop^post35, y^0'=y^post35, n1^0'=n1^post35, pc_Plan_next^0'=pc_Plan_next^post35, is_aborted^0'=is_aborted^post35, pc_Drive_next^0'=pc_Drive_next^post35, x_next^0'=x_next^post35, n0^0'=n0^post35, pc_Plan^0'=pc_Plan^post35, (0 == 0 /\ -is_aborted_next^post35 <= 0 /\ x^0-x_next^post35 <= 0 /\ -7+pc_Plan_next^post35 <= 0 /\ -1+is_aborted_next^post35 <= 0 /\ -7+pc_Loop^post35 == 0 /\ -n1^post35+n1^0 == 0 /\ -y^0+y_next^post35 <= 0 /\ pc_Plan^post35-pc_Plan_next^post35 == 0 /\ 1-is_aborted^post35 <= 0 /\ -x^0+x_next^post35 <= 0 /\ -pc_Drive_next^post35+pc_Drive^post35 == 0 /\ executed_Drive^post35 == 0 /\ 1-pc_Drive_next^post35 <= 0 /\ -y_next^post35+y^post35 == 0 /\ -is_aborted_next^post35+is_aborted^post35 == 0 /\ y^0-y_next^post35 <= 0 /\ n0^0-n0^post35 == 0 /\ -3+pc_Drive_next^post35 <= 0 /\ 1-pc_Plan_next^post35 <= 0 /\ -7+pc_Drive_next^post35 <= 0 /\ -x_next^post35+x^post35 == 0), cost: 1
   7: l2 -> l3 : executed_Drive^0'=executed_Drive^post7, y_next^0'=y_next^post7, pc_Drive^0'=pc_Drive^post7, x^0'=x^post7, is_aborted_next^0'=is_aborted_next^post7, pc_Loop^0'=pc_Loop^post7, y^0'=y^post7, n1^0'=n1^post7, pc_Plan_next^0'=pc_Plan_next^post7, is_aborted^0'=is_aborted^post7, pc_Drive_next^0'=pc_Drive_next^post7, x_next^0'=x_next^post7, n0^0'=n0^post7, pc_Plan^0'=pc_Plan^post7, (0 == 0 /\ 5-pc_Drive_next^post7 <= 0 /\ -y^0+y_next^post7 <= 0 /\ -7+pc_Drive_next^post7 <= 0 /\ -x^0+x_next^post7 <= 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ y^0-y_next^post7 <= 0 /\ pc_Drive^post7-pc_Drive_next^post7 == 0 /\ n0^0-n0^post7 == 0 /\ x^0-x_next^post7 <= 0 /\ -n1^post7+n1^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ executed_Drive^0-executed_Drive^post7 == 0 /\ -7+pc_Drive^post7 <= 0 /\ 7-pc_Drive^post7 <= 0 /\ x^post7-x_next^post7 == 0 /\ -4+pc_Loop^post7 == 0 /\ -1+is_aborted_next^post7 <= 0 /\ pc_Plan^post7-pc_Plan_next^post7 == 0 /\ is_aborted^post7-is_aborted_next^post7 == 0 /\ -is_aborted_next^post7 <= 0 /\ 1-pc_Drive_next^post7 <= 0 /\ -y_next^post7+y^post7 == 0 /\ 1-pc_Plan_next^post7 <= 0), cost: 1
  11: l2 -> l3 : executed_Drive^0'=executed_Drive^post11, y_next^0'=y_next^post11, pc_Drive^0'=pc_Drive^post11, x^0'=x^post11, is_aborted_next^0'=is_aborted_next^post11, pc_Loop^0'=pc_Loop^post11, y^0'=y^post11, n1^0'=n1^post11, pc_Plan_next^0'=pc_Plan_next^post11, is_aborted^0'=is_aborted^post11, pc_Drive_next^0'=pc_Drive_next^post11, x_next^0'=x_next^post11, n0^0'=n0^post11, pc_Plan^0'=pc_Plan^post11, (0 == 0 /\ x^0-x_next^post11 <= 0 /\ y^post11-y_next^post11 == 0 /\ -1+is_aborted_next^post11 <= 0 /\ -is_aborted_next^post11 <= 0 /\ -7+pc_Plan_next^post11 <= 0 /\ -x^0+x_next^post11 <= 0 /\ 1-pc_Drive_next^post11 <= 0 /\ executed_Drive^post11 == 0 /\ -pc_Plan_next^post11+pc_Plan^post11 == 0 /\ n0^0-n0^post11 == 0 /\ 2-pc_Drive^post11 <= 0 /\ -3+pc_Drive_next^post11 <= 0 /\ 1-pc_Plan_next^post11 <= 0 /\ -y^0+y_next^post11 <= 0 /\ -7+pc_Drive_next^post11 <= 0 /\ -x_next^post11+x^post11 == 0 /\ -n1^post11+n1^0 == 0 /\ -pc_Drive_next^post11+pc_Drive^post11 == 0 /\ -4+pc_Loop^post11 == 0 /\ y^0-y_next^post11 <= 0 /\ -is_aborted_next^post11+is_aborted^post11 == 0 /\ -2+pc_Drive^post11 <= 0), cost: 1
  12: l3 -> l0 : executed_Drive^0'=executed_Drive^post12, y_next^0'=y_next^post12, pc_Drive^0'=pc_Drive^post12, x^0'=x^post12, is_aborted_next^0'=is_aborted_next^post12, pc_Loop^0'=pc_Loop^post12, y^0'=y^post12, n1^0'=n1^post12, pc_Plan_next^0'=pc_Plan_next^post12, is_aborted^0'=is_aborted^post12, pc_Drive_next^0'=pc_Drive_next^post12, x_next^0'=x_next^post12, n0^0'=n0^post12, pc_Plan^0'=pc_Plan^post12, (0 == 0 /\ pc_Drive^post12-pc_Drive_next^post12 == 0 /\ -7+pc_Plan_next^post12 <= 0 /\ 1+x^0-x_next^post12 <= 0 /\ -n0^post12+n0^0 == 0 /\ n1^0-n1^post12 == 0 /\ is_aborted^post12-is_aborted_next^post12 == 0 /\ -1+y_next^post12-y^0 <= 0 /\ 1-pc_Drive_next^post12 <= 0 /\ pc_Plan^post12-pc_Plan_next^post12 == 0 /\ -y_next^post12+y^post12 == 0 /\ -1+executed_Drive^post12 == 0 /\ -x_next^post12+x^post12 == 0 /\ 1-pc_Plan_next^post12 <= 0 /\ -1-x^0+x_next^post12 <= 0 /\ -1+is_aborted_next^post12 <= 0 /\ -4+pc_Drive_next^post12 <= 0 /\ 4-pc_Drive_next^post12 <= 0 /\ 1-is_aborted^post12 <= 0 /\ -is_aborted_next^post12 <= 0 /\ -7+pc_Drive_next^post12 <= 0 /\ 1-y_next^post12+y^0 <= 0 /\ -7+pc_Loop^post12 == 0), cost: 1
  13: l3 -> l0 : executed_Drive^0'=executed_Drive^post13, y_next^0'=y_next^post13, pc_Drive^0'=pc_Drive^post13, x^0'=x^post13, is_aborted_next^0'=is_aborted_next^post13, pc_Loop^0'=pc_Loop^post13, y^0'=y^post13, n1^0'=n1^post13, pc_Plan_next^0'=pc_Plan_next^post13, is_aborted^0'=is_aborted^post13, pc_Drive_next^0'=pc_Drive_next^post13, x_next^0'=x_next^post13, n0^0'=n0^post13, pc_Plan^0'=pc_Plan^post13, (0 == 0 /\ -x^0+x_next^post13 <= 0 /\ -7+pc_Drive_next^post13 <= 0 /\ 1-is_aborted^post13 <= 0 /\ -x_next^post13+x^post13 == 0 /\ pc_Drive^post13-pc_Drive_next^post13 == 0 /\ -7+pc_Loop^post13 == 0 /\ -y_next^post13+y^post13 == 0 /\ 5-pc_Drive_next^post13 <= 0 /\ n0^0-n0^post13 == 0 /\ x^0-x_next^post13 <= 0 /\ -n1^post13+n1^0 == 0 /\ -1+is_aborted_next^post13 <= 0 /\ -7+pc_Plan_next^post13 <= 0 /\ -is_aborted_next^post13 <= 0 /\ 1-pc_Drive_next^post13 <= 0 /\ executed_Drive^0-executed_Drive^post13 == 0 /\ y^0-y_next^post13 <= 0 /\ -is_aborted_next^post13+is_aborted^post13 == 0 /\ 1-pc_Plan_next^post13 <= 0 /\ -y^0+y_next^post13 <= 0 /\ pc_Plan^post13-pc_Plan_next^post13 == 0), cost: 1
  14: l3 -> l0 : executed_Drive^0'=executed_Drive^post14, y_next^0'=y_next^post14, pc_Drive^0'=pc_Drive^post14, x^0'=x^post14, is_aborted_next^0'=is_aborted_next^post14, pc_Loop^0'=pc_Loop^post14, y^0'=y^post14, n1^0'=n1^post14, pc_Plan_next^0'=pc_Plan_next^post14, is_aborted^0'=is_aborted^post14, pc_Drive_next^0'=pc_Drive_next^post14, x_next^0'=x_next^post14, n0^0'=n0^post14, pc_Plan^0'=pc_Plan^post14, (0 == 0 /\ -7+pc_Plan_next^post14 <= 0 /\ -is_aborted_next^post14 <= 0 /\ x^0-x_next^post14 <= 0 /\ -1+is_aborted_next^post14 <= 0 /\ pc_Plan^post14-pc_Plan_next^post14 == 0 /\ -7+pc_Loop^post14 == 0 /\ -y^0+y_next^post14 <= 0 /\ -n1^post14+n1^0 == 0 /\ 1-is_aborted^post14 <= 0 /\ -x^0+x_next^post14 <= 0 /\ -pc_Drive_next^post14+pc_Drive^post14 == 0 /\ executed_Drive^0-executed_Drive^post14 == 0 /\ 1-pc_Drive_next^post14 <= 0 /\ -y_next^post14+y^post14 == 0 /\ -is_aborted_next^post14+is_aborted^post14 == 0 /\ y^0-y_next^post14 <= 0 /\ n0^0-n0^post14 == 0 /\ -3+pc_Drive_next^post14 <= 0 /\ 1-pc_Plan_next^post14 <= 0 /\ -7+pc_Drive_next^post14 <= 0 /\ x^post14-x_next^post14 == 0), cost: 1
  15: l3 -> l0 : executed_Drive^0'=executed_Drive^post15, y_next^0'=y_next^post15, pc_Drive^0'=pc_Drive^post15, x^0'=x^post15, is_aborted_next^0'=is_aborted_next^post15, pc_Loop^0'=pc_Loop^post15, y^0'=y^post15, n1^0'=n1^post15, pc_Plan_next^0'=pc_Plan_next^post15, is_aborted^0'=is_aborted^post15, pc_Drive_next^0'=pc_Drive_next^post15, x_next^0'=x_next^post15, n0^0'=n0^post15, pc_Plan^0'=pc_Plan^post15, (0 == 0 /\ -1-y^0+y_next^post15 <= 0 /\ is_aborted^post15 <= 0 /\ -1+executed_Drive^post15 == 0 /\ -1-x^0+x_next^post15 <= 0 /\ -n0^post15+n0^0 == 0 /\ 1-pc_Plan_next^post15 <= 0 /\ -1+is_aborted_next^post15 <= 0 /\ -4+pc_Drive_next^post15 <= 0 /\ 4-pc_Drive_next^post15 <= 0 /\ -is_aborted_next^post15 <= 0 /\ -7+pc_Drive_next^post15 <= 0 /\ -7+pc_Loop^post15 == 0 /\ 1+y^0-y_next^post15 <= 0 /\ -n1^post15+n1^0 == 0 /\ -7+pc_Plan_next^post15 <= 0 /\ 1+x^0-x_next^post15 <= 0 /\ pc_Drive^post15-pc_Drive_next^post15 == 0 /\ y^post15-y_next^post15 == 0 /\ is_aborted^post15-is_aborted_next^post15 == 0 /\ x^post15-x_next^post15 == 0 /\ -x^post15+n0^0 <= 0 /\ -y^post15+n1^0 <= 0 /\ 1-pc_Drive_next^post15 <= 0 /\ pc_Plan^post15-pc_Plan_next^post15 == 0), cost: 1
  16: l3 -> l0 : executed_Drive^0'=executed_Drive^post16, y_next^0'=y_next^post16, pc_Drive^0'=pc_Drive^post16, x^0'=x^post16, is_aborted_next^0'=is_aborted_next^post16, pc_Loop^0'=pc_Loop^post16, y^0'=y^post16, n1^0'=n1^post16, pc_Plan_next^0'=pc_Plan_next^post16, is_aborted^0'=is_aborted^post16, pc_Drive_next^0'=pc_Drive_next^post16, x_next^0'=x_next^post16, n0^0'=n0^post16, pc_Plan^0'=pc_Plan^post16, (0 == 0 /\ -7+pc_Drive_next^post16 <= 0 /\ -x^0+x_next^post16 <= 0 /\ -x^post16+n0^0 <= 0 /\ pc_Drive^post16-pc_Drive_next^post16 == 0 /\ 5-pc_Drive_next^post16 <= 0 /\ is_aborted^post16-is_aborted_next^post16 == 0 /\ -7+pc_Plan_next^post16 <= 0 /\ x^0-x_next^post16 <= 0 /\ -n0^post16+n0^0 == 0 /\ -y^post16+n1^0 <= 0 /\ n1^0-n1^post16 == 0 /\ executed_Drive^0-executed_Drive^post16 == 0 /\ is_aborted^post16 <= 0 /\ -7+pc_Loop^post16 == 0 /\ 1-pc_Drive_next^post16 <= 0 /\ y^0-y_next^post16 <= 0 /\ y^post16-y_next^post16 == 0 /\ 1-pc_Plan_next^post16 <= 0 /\ x^post16-x_next^post16 == 0 /\ pc_Plan^post16-pc_Plan_next^post16 == 0 /\ -1+is_aborted_next^post16 <= 0 /\ -y^0+y_next^post16 <= 0 /\ -is_aborted_next^post16 <= 0), cost: 1
  17: l3 -> l0 : executed_Drive^0'=executed_Drive^post17, y_next^0'=y_next^post17, pc_Drive^0'=pc_Drive^post17, x^0'=x^post17, is_aborted_next^0'=is_aborted_next^post17, pc_Loop^0'=pc_Loop^post17, y^0'=y^post17, n1^0'=n1^post17, pc_Plan_next^0'=pc_Plan_next^post17, is_aborted^0'=is_aborted^post17, pc_Drive_next^0'=pc_Drive_next^post17, x_next^0'=x_next^post17, n0^0'=n0^post17, pc_Plan^0'=pc_Plan^post17, (0 == 0 /\ x^post17-x_next^post17 == 0 /\ -n1^post17+n1^0 == 0 /\ 1-pc_Drive_next^post17 <= 0 /\ pc_Plan^post17-pc_Plan_next^post17 == 0 /\ -x^post17+n0^0 <= 0 /\ -y^post17+n1^0 <= 0 /\ 1-pc_Plan_next^post17 <= 0 /\ y^post17-y_next^post17 == 0 /\ -1+is_aborted_next^post17 <= 0 /\ -y^0+y_next^post17 <= 0 /\ -is_aborted_next^post17 <= 0 /\ -x^0+x_next^post17 <= 0 /\ -7+pc_Drive_next^post17 <= 0 /\ -7+pc_Loop^post17 == 0 /\ -n0^post17+n0^0 == 0 /\ y^0-y_next^post17 <= 0 /\ x^0-x_next^post17 <= 0 /\ -7+pc_Plan_next^post17 <= 0 /\ is_aborted^post17 <= 0 /\ -3+pc_Drive_next^post17 <= 0 /\ executed_Drive^0-executed_Drive^post17 == 0 /\ pc_Drive^post17-pc_Drive_next^post17 == 0 /\ -is_aborted_next^post17+is_aborted^post17 == 0), cost: 1
  18: l3 -> l4 : executed_Drive^0'=executed_Drive^post18, y_next^0'=y_next^post18, pc_Drive^0'=pc_Drive^post18, x^0'=x^post18, is_aborted_next^0'=is_aborted_next^post18, pc_Loop^0'=pc_Loop^post18, y^0'=y^post18, n1^0'=n1^post18, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=is_aborted^post18, pc_Drive_next^0'=pc_Drive_next^post18, x_next^0'=x_next^post18, n0^0'=n0^post18, pc_Plan^0'=pc_Plan^post18, (0 == 0 /\ -1-x^0+x_next^post18 <= 0 /\ -y_next^post18+y^post18 == 0 /\ -is_aborted_next^post18+is_aborted^post18 == 0 /\ -7+pc_Plan_next^post18 <= 0 /\ pc_Plan^post18-pc_Plan_next^post18 == 0 /\ x^post18-x_next^post18 == 0 /\ -n1^post18+n1^0 == 0 /\ 1+x^post18-n0^0 <= 0 /\ -7+pc_Drive_next^post18 <= 0 /\ -4+pc_Drive_next^post18 <= 0 /\ 4-pc_Drive_next^post18 <= 0 /\ 1-executed_Drive^10 <= 0 /\ -1+executed_Drive^10 <= 0 /\ -1+executed_Drive^10 == 0 /\ -1-y^0+y_next^post18 <= 0 /\ 1+x^0-x_next^post18 <= 0 /\ 1-pc_Plan_next^post18 <= 0 /\ executed_Drive^post18 == 0 /\ 1-n1^0+y^post18 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_Drive_next^post18 <= 0 /\ -n0^post18+n0^0 == 0 /\ -1+is_aborted_next^post18 <= 0 /\ pc_Drive^post18-pc_Drive_next^post18 == 0 /\ -is_aborted_next^post18 <= 0 /\ 1+y^0-y_next^post18 <= 0 /\ is_aborted^post18 <= 0 /\ 1-n0^0 <= 0 /\ -2+pc_Loop^post18 == 0), cost: 1
  19: l3 -> l4 : executed_Drive^0'=executed_Drive^post19, y_next^0'=y_next^post19, pc_Drive^0'=pc_Drive^post19, x^0'=x^post19, is_aborted_next^0'=is_aborted_next^post19, pc_Loop^0'=pc_Loop^post19, y^0'=y^post19, n1^0'=n1^post19, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=is_aborted^post19, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x_next^post19, n0^0'=n0^post19, pc_Plan^0'=pc_Plan^post19, (0 == 0 /\ -n0^post19+n0^0 == 0 /\ pc_Drive^post19-pc_Drive_next^post19 == 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -is_aborted_next^post19 <= 0 /\ -1+is_aborted_next^post19 <= 0 /\ x^0-x_next^post19 <= 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ is_aborted^post19 <= 0 /\ pc_Plan^post19-pc_Plan_next^post19 == 0 /\ n1^0-n1^post19 == 0 /\ 1+y^post19-n1^0 <= 0 /\ 1-pc_Drive_next^post19 <= 0 /\ -x^0+x_next^post19 <= 0 /\ -y_next^post19+y^post19 == 0 /\ -2+pc_Loop^post19 == 0 /\ y_next^post19-y^0 <= 0 /\ -x_next^post19+x^post19 == 0 /\ is_aborted^post19-is_aborted_next^post19 == 0 /\ 1-n1^0 <= 0 /\ 1-pc_Plan_next^post19 <= 0 /\ 5-pc_Drive_next^post19 <= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ executed_Drive^post19 == 0 /\ -y_next^post19+y^0 <= 0 /\ 1+x^post19-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 1
  20: l3 -> l4 : executed_Drive^0'=executed_Drive^post20, y_next^0'=y_next^post20, pc_Drive^0'=pc_Drive^post20, x^0'=x^post20, is_aborted_next^0'=is_aborted_next^post20, pc_Loop^0'=pc_Loop^post20, y^0'=y^post20, n1^0'=n1^post20, pc_Plan_next^0'=pc_Plan_next^post20, is_aborted^0'=is_aborted^post20, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x_next^post20, n0^0'=n0^post20, pc_Plan^0'=pc_Plan^post20, (0 == 0 /\ -x^0+x_next^post20 <= 0 /\ -7+pc_Drive_next^post20 <= 0 /\ y^0-y^post20 == 0 /\ y^0-y_next^post20 <= 0 /\ pc_Drive^post20-pc_Drive_next^post20 == 0 /\ executed_Drive^post20 == 0 /\ x^0-x_next^post20 <= 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ -7+pc_Plan_next^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -pc_Plan_next^post20+pc_Plan^post20 == 0 /\ -n0^post20+n0^0 == 0 /\ -y^0+y_next^post20 <= 0 /\ -1+is_aborted_next^post20 <= 0 /\ -2+pc_Loop^post20 == 0 /\ -is_aborted_next^post20 <= 0 /\ 1-pc_Drive_next^post20 <= 0 /\ is_aborted^post20 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -is_aborted_next^post20+is_aborted^post20 == 0 /\ 1-pc_Plan_next^post20 <= 0 /\ x^0-x^post20 == 0 /\ 1+x^0-n0^0 <= 0 /\ n1^0-n1^post20 == 0 /\ 1-n0^0 <= 0), cost: 1
  24: l4 -> l5 : executed_Drive^0'=executed_Drive^post24, y_next^0'=y_next^post24, pc_Drive^0'=pc_Drive^post24, x^0'=x^post24, is_aborted_next^0'=is_aborted_next^post24, pc_Loop^0'=pc_Loop^post24, y^0'=y^post24, n1^0'=n1^post24, pc_Plan_next^0'=pc_Plan_next^post24, is_aborted^0'=is_aborted^post24, pc_Drive_next^0'=pc_Drive_next^post24, x_next^0'=x_next^post24, n0^0'=n0^post24, pc_Plan^0'=pc_Plan^post24, (0 == 0 /\ -is_aborted_next^post24+is_aborted^post24 == 0 /\ pc_Plan^post24-pc_Plan_next^post24 == 0 /\ x^post24-x_next^post24 == 0 /\ 1-pc_Drive_next^post24 <= 0 /\ -y_next^post24+y^post24 == 0 /\ -1+executed_Drive^post24 == 0 /\ -1-y^0+y_next^post24 <= 0 /\ -n1^post24+n1^0 == 0 /\ 1-pc_Plan_next^post24 <= 0 /\ -1-x^0+x_next^post24 <= 0 /\ -n0^post24+n0^0 == 0 /\ -4+pc_Drive_next^post24 <= 0 /\ 4-pc_Drive_next^post24 <= 0 /\ -7+pc_Drive_next^post24 <= 0 /\ -3+pc_Loop^post24 == 0 /\ pc_Drive^post24-pc_Drive_next^post24 == 0 /\ 1+y^0-y_next^post24 <= 0 /\ -is_aborted_next^post24 <= 0 /\ is_aborted^post24 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ 1+x^0-x_next^post24 <= 0 /\ -1+is_aborted_next^post24 <= 0), cost: 1
  25: l4 -> l5 : executed_Drive^0'=executed_Drive^post25, y_next^0'=y_next^post25, pc_Drive^0'=pc_Drive^post25, x^0'=x^post25, is_aborted_next^0'=is_aborted_next^post25, pc_Loop^0'=pc_Loop^post25, y^0'=y^post25, n1^0'=n1^post25, pc_Plan_next^0'=pc_Plan_next^post25, is_aborted^0'=is_aborted^post25, pc_Drive_next^0'=pc_Drive_next^post25, x_next^0'=x_next^post25, n0^0'=n0^post25, pc_Plan^0'=pc_Plan^post25, (0 == 0 /\ y^post25-y_next^post25 == 0 /\ 1-pc_Plan_next^post25 <= 0 /\ -1+is_aborted_next^post25 <= 0 /\ -y_next^post25+y^0 <= 0 /\ -is_aborted_next^post25 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ is_aborted^post25-is_aborted_next^post25 == 0 /\ y_next^post25-y^0 <= 0 /\ 5-pc_Drive_next^post25 <= 0 /\ is_aborted^post25 <= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -3+pc_Loop^post25 == 0 /\ x^0-x_next^post25 <= 0 /\ pc_Plan^post25-pc_Plan_next^post25 == 0 /\ x^post25-x_next^post25 == 0 /\ n1^0-n1^post25 == 0 /\ 1-pc_Drive_next^post25 <= 0 /\ executed_Drive^0-executed_Drive^post25 == 0 /\ -n0^post25+n0^0 == 0 /\ -x^0+x_next^post25 <= 0 /\ pc_Drive^post25-pc_Drive_next^post25 == 0), cost: 1
  26: l4 -> l5 : executed_Drive^0'=executed_Drive^post26, y_next^0'=y_next^post26, pc_Drive^0'=pc_Drive^post26, x^0'=x^post26, is_aborted_next^0'=is_aborted_next^post26, pc_Loop^0'=pc_Loop^post26, y^0'=y^post26, n1^0'=n1^post26, pc_Plan_next^0'=pc_Plan_next^post26, is_aborted^0'=is_aborted^post26, pc_Drive_next^0'=pc_Drive_next^post26, x_next^0'=x_next^post26, n0^0'=n0^post26, pc_Plan^0'=pc_Plan^post26, (0 == 0 /\ y^0-y_next^post26 <= 0 /\ x^0-x_next^post26 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -pc_Drive_next^post26+pc_Drive^post26 == 0 /\ executed_Drive^0-executed_Drive^post26 == 0 /\ -is_aborted_next^post26+is_aborted^post26 == 0 /\ -n0^post26+n0^0 == 0 /\ pc_Plan^post26-pc_Plan_next^post26 == 0 /\ -y^0+y_next^post26 <= 0 /\ -x^0+x_next^post26 <= 0 /\ 1-pc_Drive_next^post26 <= 0 /\ -3+pc_Loop^post26 == 0 /\ -y_next^post26+y^post26 == 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -x_next^post26+x^post26 == 0 /\ 1-pc_Plan_next^post26 <= 0 /\ -1+is_aborted_next^post26 <= 0 /\ is_aborted^post26 <= 0 /\ -is_aborted_next^post26 <= 0 /\ -7+pc_Drive_next^post26 <= 0 /\ -n1^post26+n1^0 == 0), cost: 1
  27: l4 -> l0 : executed_Drive^0'=executed_Drive^post27, y_next^0'=y_next^post27, pc_Drive^0'=pc_Drive^post27, x^0'=x^post27, is_aborted_next^0'=is_aborted_next^post27, pc_Loop^0'=pc_Loop^post27, y^0'=y^post27, n1^0'=n1^post27, pc_Plan_next^0'=pc_Plan_next^post27, is_aborted^0'=is_aborted^post27, pc_Drive_next^0'=pc_Drive_next^post27, x_next^0'=x_next^post27, n0^0'=n0^post27, pc_Plan^0'=pc_Plan^post27, (0 == 0 /\ -7+pc_Drive_next^post27 <= 0 /\ n1^0-n1^post27 == 0 /\ pc_Drive^post27-pc_Drive_next^post27 == 0 /\ -7+pc_Loop^post27 == 0 /\ -4+pc_Drive_next^post27 <= 0 /\ 4-pc_Drive_next^post27 <= 0 /\ -1+executed_Drive^post27 == 0 /\ -1-y^0+y_next^post27 <= 0 /\ x^post27-x_next^post27 == 0 /\ -1-x^0+x_next^post27 <= 0 /\ -1+is_aborted_next^post27 <= 0 /\ 1-is_aborted^post27 <= 0 /\ -7+pc_Plan_next^post27 <= 0 /\ -is_aborted_next^post27 <= 0 /\ pc_Plan^post27-pc_Plan_next^post27 == 0 /\ -n0^post27+n0^0 == 0 /\ 1-pc_Drive_next^post27 <= 0 /\ y^post27-y_next^post27 == 0 /\ is_aborted^post27-is_aborted_next^post27 == 0 /\ 1+y^0-y_next^post27 <= 0 /\ 1+x^0-x_next^post27 <= 0 /\ 1-pc_Plan_next^post27 <= 0), cost: 1
  28: l4 -> l0 : executed_Drive^0'=executed_Drive^post28, y_next^0'=y_next^post28, pc_Drive^0'=pc_Drive^post28, x^0'=x^post28, is_aborted_next^0'=is_aborted_next^post28, pc_Loop^0'=pc_Loop^post28, y^0'=y^post28, n1^0'=n1^post28, pc_Plan_next^0'=pc_Plan_next^post28, is_aborted^0'=is_aborted^post28, pc_Drive_next^0'=pc_Drive_next^post28, x_next^0'=x_next^post28, n0^0'=n0^post28, pc_Plan^0'=pc_Plan^post28, (0 == 0 /\ -7+pc_Plan_next^post28 <= 0 /\ -is_aborted_next^post28 <= 0 /\ -1+is_aborted_next^post28 <= 0 /\ -y_next^post28+y^0 <= 0 /\ x_next^post28-x^0 <= 0 /\ pc_Plan^post28-pc_Plan_next^post28 == 0 /\ -7+pc_Loop^post28 == 0 /\ 1-is_aborted^post28 <= 0 /\ n1^0-n1^post28 == 0 /\ executed_Drive^0-executed_Drive^post28 == 0 /\ is_aborted^post28-is_aborted_next^post28 == 0 /\ 1-pc_Drive_next^post28 <= 0 /\ -y_next^post28+y^post28 == 0 /\ y_next^post28-y^0 <= 0 /\ -x_next^post28+x^0 <= 0 /\ pc_Drive^post28-pc_Drive_next^post28 == 0 /\ -x_next^post28+x^post28 == 0 /\ 1-pc_Plan_next^post28 <= 0 /\ -7+pc_Drive_next^post28 <= 0 /\ -n0^post28+n0^0 == 0 /\ 5-pc_Drive_next^post28 <= 0), cost: 1
  29: l4 -> l0 : executed_Drive^0'=executed_Drive^post29, y_next^0'=y_next^post29, pc_Drive^0'=pc_Drive^post29, x^0'=x^post29, is_aborted_next^0'=is_aborted_next^post29, pc_Loop^0'=pc_Loop^post29, y^0'=y^post29, n1^0'=n1^post29, pc_Plan_next^0'=pc_Plan_next^post29, is_aborted^0'=is_aborted^post29, pc_Drive_next^0'=pc_Drive_next^post29, x_next^0'=x_next^post29, n0^0'=n0^post29, pc_Plan^0'=pc_Plan^post29, (0 == 0 /\ -pc_Drive_next^post29+pc_Drive^post29 == 0 /\ y^0-y_next^post29 <= 0 /\ -x_next^post29+x^post29 == 0 /\ -3+pc_Drive_next^post29 <= 0 /\ 1-pc_Plan_next^post29 <= 0 /\ -n0^post29+n0^0 == 0 /\ -y^0+y_next^post29 <= 0 /\ -1+is_aborted_next^post29 <= 0 /\ 1-is_aborted^post29 <= 0 /\ -is_aborted_next^post29 <= 0 /\ -7+pc_Drive_next^post29 <= 0 /\ -7+pc_Loop^post29 == 0 /\ x^0-x_next^post29 <= 0 /\ -7+pc_Plan_next^post29 <= 0 /\ -is_aborted_next^post29+is_aborted^post29 == 0 /\ executed_Drive^0-executed_Drive^post29 == 0 /\ y^post29-y_next^post29 == 0 /\ n1^0-n1^post29 == 0 /\ -x^0+x_next^post29 <= 0 /\ 1-pc_Drive_next^post29 <= 0 /\ pc_Plan^post29-pc_Plan_next^post29 == 0), cost: 1
  21: l5 -> l2 : executed_Drive^0'=executed_Drive^post21, y_next^0'=y_next^post21, pc_Drive^0'=pc_Drive^post21, x^0'=x^post21, is_aborted_next^0'=is_aborted_next^post21, pc_Loop^0'=pc_Loop^post21, y^0'=y^post21, n1^0'=n1^post21, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=is_aborted^post21, pc_Drive_next^0'=pc_Drive_next^post21, x_next^0'=x_next^post21, n0^0'=n0^post21, pc_Plan^0'=pc_Plan^post21, (0 == 0 /\ -6+pc_Loop^post21 == 0 /\ -4+pc_Drive_next^post21 <= 0 /\ 4-pc_Drive_next^post21 <= 0 /\ 1-is_aborted^post21 <= 0 /\ n1^0-n1^post21 == 0 /\ -7+pc_Drive_next^post21 <= 0 /\ -1+x_next^post21-x^0 <= 0 /\ pc_Drive^post21-pc_Drive_next^post21 == 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -is_aborted_next^post21 <= 0 /\ -x_next^post21+x^post21 == 0 /\ -1+is_aborted_next^post21 <= 0 /\ is_aborted^post21-is_aborted_next^post21 == 0 /\ 1-y_next^post21+y^0 <= 0 /\ -n0^post21+n0^0 == 0 /\ pc_Plan^post21-pc_Plan_next^post21 == 0 /\ 1-pc_Drive_next^post21 <= 0 /\ 1-x_next^post21+x^0 <= 0 /\ -y_next^post21+y^post21 == 0 /\ -1+executed_Drive^post21 == 0 /\ -1+y_next^post21-y^0 <= 0 /\ 1-pc_Plan_next^post21 <= 0), cost: 1
  22: l5 -> l2 : executed_Drive^0'=executed_Drive^post22, y_next^0'=y_next^post22, pc_Drive^0'=pc_Drive^post22, x^0'=x^post22, is_aborted_next^0'=is_aborted_next^post22, pc_Loop^0'=pc_Loop^post22, y^0'=y^post22, n1^0'=n1^post22, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=is_aborted^post22, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=x_next^post22, n0^0'=n0^post22, pc_Plan^0'=pc_Plan^post22, (0 == 0 /\ 1-pc_Plan_next^post22 <= 0 /\ -y_next^post22+y^0 <= 0 /\ -x_next^post22+x^post22 == 0 /\ -6+pc_Loop^post22 == 0 /\ -7+pc_Drive_next^post22 <= 0 /\ y_next^post22-y^0 <= 0 /\ 5-pc_Drive_next^post22 <= 0 /\ x^0-x_next^post22 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ pc_Plan^post22-pc_Plan_next^post22 == 0 /\ -1+is_aborted_next^post22 <= 0 /\ 1-is_aborted^post22 <= 0 /\ n1^0-n1^post22 == 0 /\ -is_aborted_next^post22 <= 0 /\ -x^0+x_next^post22 <= 0 /\ 1-pc_Drive_next^post22 <= 0 /\ executed_Drive^0-executed_Drive^post22 == 0 /\ pc_Drive^post22-pc_Drive_next^post22 == 0 /\ -y_next^post22+y^post22 == 0 /\ is_aborted^post22-is_aborted_next^post22 == 0 /\ -n0^post22+n0^0 == 0), cost: 1
  23: l5 -> l2 : executed_Drive^0'=executed_Drive^post23, y_next^0'=y_next^post23, pc_Drive^0'=pc_Drive^post23, x^0'=x^post23, is_aborted_next^0'=is_aborted_next^post23, pc_Loop^0'=pc_Loop^post23, y^0'=y^post23, n1^0'=n1^post23, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=is_aborted^post23, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=x_next^post23, n0^0'=n0^post23, pc_Plan^0'=pc_Plan^post23, (0 == 0 /\ -x^0+x_next^post23 <= 0 /\ -7+pc_Drive_next^post23 <= 0 /\ pc_Drive^post23-pc_Drive_next^post23 == 0 /\ -y_next^post23+y^post23 == 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -is_aborted_next^post23 <= 0 /\ -n0^post23+n0^0 == 0 /\ -1+is_aborted_next^post23 <= 0 /\ x^0-x_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-is_aborted^post23 <= 0 /\ -6+pc_Loop^post23 == 0 /\ 1-pc_Drive_next^post23 <= 0 /\ executed_Drive^0-executed_Drive^post23 == 0 /\ y^0-y_next^post23 <= 0 /\ -is_aborted_next^post23+is_aborted^post23 == 0 /\ -x_next^post23+x^post23 == 0 /\ 1-pc_Plan_next^post23 <= 0 /\ -y^0+y_next^post23 <= 0 /\ pc_Plan^post23-pc_Plan_next^post23 == 0 /\ n1^0-n1^post23 == 0), cost: 1
  36: l6 -> l1 : executed_Drive^0'=executed_Drive^post36, y_next^0'=y_next^post36, pc_Drive^0'=pc_Drive^post36, x^0'=x^post36, is_aborted_next^0'=is_aborted_next^post36, pc_Loop^0'=pc_Loop^post36, y^0'=y^post36, n1^0'=n1^post36, pc_Plan_next^0'=pc_Plan_next^post36, is_aborted^0'=is_aborted^post36, pc_Drive_next^0'=pc_Drive_next^post36, x_next^0'=x_next^post36, n0^0'=n0^post36, pc_Plan^0'=pc_Plan^post36, (pc_Loop^0-pc_Loop^post36 == 0 /\ is_aborted_next^0-is_aborted_next^post36 == 0 /\ x_next^0-x_next^post36 == 0 /\ x^0-x^post36 == 0 /\ -n0^post36+n0^0 == 0 /\ pc_Drive^0-pc_Drive^post36 == 0 /\ -n1^post36+n1^0 == 0 /\ y_next^0-y_next^post36 == 0 /\ -is_aborted^post36+is_aborted^0 == 0 /\ executed_Drive^0-executed_Drive^post36 == 0 /\ -pc_Drive_next^post36+pc_Drive_next^0 == 0 /\ -pc_Plan^post36+pc_Plan^0 == 0 /\ pc_Plan_next^0-pc_Plan_next^post36 == 0 /\ -y^post36+y^0 == 0), cost: 1
  37: l7 -> l6 : executed_Drive^0'=executed_Drive^post37, y_next^0'=y_next^post37, pc_Drive^0'=pc_Drive^post37, x^0'=x^post37, is_aborted_next^0'=is_aborted_next^post37, pc_Loop^0'=pc_Loop^post37, y^0'=y^post37, n1^0'=n1^post37, pc_Plan_next^0'=pc_Plan_next^post37, is_aborted^0'=is_aborted^post37, pc_Drive_next^0'=pc_Drive_next^post37, x_next^0'=x_next^post37, n0^0'=n0^post37, pc_Plan^0'=pc_Plan^post37, (n1^0-n1^post37 == 0 /\ pc_Plan_next^0-pc_Plan_next^post37 == 0 /\ is_aborted_next^0-is_aborted_next^post37 == 0 /\ -pc_Drive_next^post37+pc_Drive_next^0 == 0 /\ pc_Drive^0-pc_Drive^post37 == 0 /\ -is_aborted^post37+is_aborted^0 == 0 /\ pc_Loop^0-pc_Loop^post37 == 0 /\ executed_Drive^0-executed_Drive^post37 == 0 /\ -x_next^post37+x_next^0 == 0 /\ -n0^post37+n0^0 == 0 /\ -y^post37+y^0 == 0 /\ -pc_Plan^post37+pc_Plan^0 == 0 /\ -y_next^post37+y_next^0 == 0 /\ x^0-x^post37 == 0), cost: 1


Removed unreachable rules and leafs
Start location: l7
  30: l1 -> l4 : executed_Drive^0'=executed_Drive^post30, y_next^0'=y_next^post30, pc_Drive^0'=pc_Drive^post30, x^0'=x^post30, is_aborted_next^0'=is_aborted_next^post30, pc_Loop^0'=pc_Loop^post30, y^0'=y^post30, n1^0'=n1^post30, pc_Plan_next^0'=pc_Plan_next^post30, is_aborted^0'=is_aborted^post30, pc_Drive_next^0'=pc_Drive_next^post30, x_next^0'=x_next^post30, n0^0'=n0^post30, pc_Plan^0'=pc_Plan^post30, (0 == 0 /\ -2+pc_Loop^post30 == 0 /\ -7+pc_Drive_next^post30 <= 0 /\ is_aborted^post30 <= 0 /\ -1+executed_Drive^post30 == 0 /\ pc_Drive^post30-pc_Drive_next^post30 == 0 /\ -4+pc_Drive_next^post30 <= 0 /\ 4-pc_Drive_next^post30 <= 0 /\ -1-y^0+y_next^post30 <= 0 /\ -n0^post30+n0^0 == 0 /\ -7+pc_Plan_next^post30 <= 0 /\ -is_aborted_next^post30 <= 0 /\ -1+is_aborted_next^post30 <= 0 /\ 3-pc_Plan^post30 <= 0 /\ -1+x_next^post30-x^0 <= 0 /\ is_aborted^post30-is_aborted_next^post30 == 0 /\ 1-pc_Drive_next^post30 <= 0 /\ y^post30-y_next^post30 == 0 /\ 1+y^0-y_next^post30 <= 0 /\ -x_next^post30+x^post30 == 0 /\ -3+pc_Plan^post30 <= 0 /\ 1-pc_Plan_next^post30 <= 0 /\ pc_Plan^post30-pc_Plan_next^post30 == 0 /\ 1-x_next^post30+x^0 <= 0 /\ n1^0-n1^post30 == 0), cost: 1
  31: l1 -> l4 : executed_Drive^0'=executed_Drive^post31, y_next^0'=y_next^post31, pc_Drive^0'=pc_Drive^post31, x^0'=x^post31, is_aborted_next^0'=is_aborted_next^post31, pc_Loop^0'=pc_Loop^post31, y^0'=y^post31, n1^0'=n1^post31, pc_Plan_next^0'=pc_Plan_next^post31, is_aborted^0'=is_aborted^post31, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x_next^post31, n0^0'=n0^post31, pc_Plan^0'=pc_Plan^post31, (0 == 0 /\ executed_Drive^post31 == 0 /\ -pc_Plan_next^post31+pc_Plan^post31 == 0 /\ y_next^post31-y^0 <= 0 /\ 1-pc_Drive_next^post31 <= 0 /\ -y_next^post31+y^post31 == 0 /\ -3+pc_Plan^post31 <= 0 /\ -y_next^post31+y^0 <= 0 /\ is_aborted^post31 <= 0 /\ 1-pc_Plan_next^post31 <= 0 /\ 5-pc_Drive_next^post31 <= 0 /\ -1+is_aborted_next^post31 <= 0 /\ n1^0-n1^post31 == 0 /\ is_aborted^post31-is_aborted_next^post31 == 0 /\ -is_aborted_next^post31 <= 0 /\ -x^0+x_next^post31 <= 0 /\ -7+pc_Drive_next^post31 <= 0 /\ -n0^post31+n0^0 == 0 /\ pc_Drive^post31-pc_Drive_next^post31 == 0 /\ -2+pc_Loop^post31 == 0 /\ -x_next^post31+x^post31 == 0 /\ 3-pc_Plan^post31 <= 0 /\ x^0-x_next^post31 <= 0 /\ -7+pc_Plan_next^post31 <= 0), cost: 1
  32: l1 -> l4 : executed_Drive^0'=executed_Drive^post32, y_next^0'=y_next^post32, pc_Drive^0'=pc_Drive^post32, x^0'=x^post32, is_aborted_next^0'=is_aborted_next^post32, pc_Loop^0'=pc_Loop^post32, y^0'=y^post32, n1^0'=n1^post32, pc_Plan_next^0'=pc_Plan_next^post32, is_aborted^0'=is_aborted^post32, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x_next^post32, n0^0'=n0^post32, pc_Plan^0'=pc_Plan^post32, (0 == 0 /\ -n0^post32+n0^0 == 0 /\ -y_next^post32+y^post32 == 0 /\ -1+is_aborted_next^post32 <= 0 /\ executed_Drive^post32 == 0 /\ -2+pc_Loop^post32 == 0 /\ 3-pc_Plan^post32 <= 0 /\ -is_aborted_next^post32 <= 0 /\ -3+pc_Drive_next^post32 <= 0 /\ 1-pc_Plan_next^post32 <= 0 /\ -is_aborted_next^post32+is_aborted^post32 == 0 /\ -7+pc_Drive_next^post32 <= 0 /\ pc_Drive^post32-pc_Drive_next^post32 == 0 /\ is_aborted^post32 <= 0 /\ -7+pc_Plan_next^post32 <= 0 /\ -x_next^post32+x^post32 == 0 /\ y_next^post32-y^0 <= 0 /\ -3+pc_Plan^post32 <= 0 /\ x^0-x_next^post32 <= 0 /\ pc_Plan^post32-pc_Plan_next^post32 == 0 /\ n1^0-n1^post32 == 0 /\ 1-pc_Drive_next^post32 <= 0 /\ -y_next^post32+y^0 <= 0 /\ -x^0+x_next^post32 <= 0), cost: 1
   7: l2 -> l3 : executed_Drive^0'=executed_Drive^post7, y_next^0'=y_next^post7, pc_Drive^0'=pc_Drive^post7, x^0'=x^post7, is_aborted_next^0'=is_aborted_next^post7, pc_Loop^0'=pc_Loop^post7, y^0'=y^post7, n1^0'=n1^post7, pc_Plan_next^0'=pc_Plan_next^post7, is_aborted^0'=is_aborted^post7, pc_Drive_next^0'=pc_Drive_next^post7, x_next^0'=x_next^post7, n0^0'=n0^post7, pc_Plan^0'=pc_Plan^post7, (0 == 0 /\ 5-pc_Drive_next^post7 <= 0 /\ -y^0+y_next^post7 <= 0 /\ -7+pc_Drive_next^post7 <= 0 /\ -x^0+x_next^post7 <= 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ y^0-y_next^post7 <= 0 /\ pc_Drive^post7-pc_Drive_next^post7 == 0 /\ n0^0-n0^post7 == 0 /\ x^0-x_next^post7 <= 0 /\ -n1^post7+n1^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ executed_Drive^0-executed_Drive^post7 == 0 /\ -7+pc_Drive^post7 <= 0 /\ 7-pc_Drive^post7 <= 0 /\ x^post7-x_next^post7 == 0 /\ -4+pc_Loop^post7 == 0 /\ -1+is_aborted_next^post7 <= 0 /\ pc_Plan^post7-pc_Plan_next^post7 == 0 /\ is_aborted^post7-is_aborted_next^post7 == 0 /\ -is_aborted_next^post7 <= 0 /\ 1-pc_Drive_next^post7 <= 0 /\ -y_next^post7+y^post7 == 0 /\ 1-pc_Plan_next^post7 <= 0), cost: 1
  11: l2 -> l3 : executed_Drive^0'=executed_Drive^post11, y_next^0'=y_next^post11, pc_Drive^0'=pc_Drive^post11, x^0'=x^post11, is_aborted_next^0'=is_aborted_next^post11, pc_Loop^0'=pc_Loop^post11, y^0'=y^post11, n1^0'=n1^post11, pc_Plan_next^0'=pc_Plan_next^post11, is_aborted^0'=is_aborted^post11, pc_Drive_next^0'=pc_Drive_next^post11, x_next^0'=x_next^post11, n0^0'=n0^post11, pc_Plan^0'=pc_Plan^post11, (0 == 0 /\ x^0-x_next^post11 <= 0 /\ y^post11-y_next^post11 == 0 /\ -1+is_aborted_next^post11 <= 0 /\ -is_aborted_next^post11 <= 0 /\ -7+pc_Plan_next^post11 <= 0 /\ -x^0+x_next^post11 <= 0 /\ 1-pc_Drive_next^post11 <= 0 /\ executed_Drive^post11 == 0 /\ -pc_Plan_next^post11+pc_Plan^post11 == 0 /\ n0^0-n0^post11 == 0 /\ 2-pc_Drive^post11 <= 0 /\ -3+pc_Drive_next^post11 <= 0 /\ 1-pc_Plan_next^post11 <= 0 /\ -y^0+y_next^post11 <= 0 /\ -7+pc_Drive_next^post11 <= 0 /\ -x_next^post11+x^post11 == 0 /\ -n1^post11+n1^0 == 0 /\ -pc_Drive_next^post11+pc_Drive^post11 == 0 /\ -4+pc_Loop^post11 == 0 /\ y^0-y_next^post11 <= 0 /\ -is_aborted_next^post11+is_aborted^post11 == 0 /\ -2+pc_Drive^post11 <= 0), cost: 1
  18: l3 -> l4 : executed_Drive^0'=executed_Drive^post18, y_next^0'=y_next^post18, pc_Drive^0'=pc_Drive^post18, x^0'=x^post18, is_aborted_next^0'=is_aborted_next^post18, pc_Loop^0'=pc_Loop^post18, y^0'=y^post18, n1^0'=n1^post18, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=is_aborted^post18, pc_Drive_next^0'=pc_Drive_next^post18, x_next^0'=x_next^post18, n0^0'=n0^post18, pc_Plan^0'=pc_Plan^post18, (0 == 0 /\ -1-x^0+x_next^post18 <= 0 /\ -y_next^post18+y^post18 == 0 /\ -is_aborted_next^post18+is_aborted^post18 == 0 /\ -7+pc_Plan_next^post18 <= 0 /\ pc_Plan^post18-pc_Plan_next^post18 == 0 /\ x^post18-x_next^post18 == 0 /\ -n1^post18+n1^0 == 0 /\ 1+x^post18-n0^0 <= 0 /\ -7+pc_Drive_next^post18 <= 0 /\ -4+pc_Drive_next^post18 <= 0 /\ 4-pc_Drive_next^post18 <= 0 /\ 1-executed_Drive^10 <= 0 /\ -1+executed_Drive^10 <= 0 /\ -1+executed_Drive^10 == 0 /\ -1-y^0+y_next^post18 <= 0 /\ 1+x^0-x_next^post18 <= 0 /\ 1-pc_Plan_next^post18 <= 0 /\ executed_Drive^post18 == 0 /\ 1-n1^0+y^post18 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_Drive_next^post18 <= 0 /\ -n0^post18+n0^0 == 0 /\ -1+is_aborted_next^post18 <= 0 /\ pc_Drive^post18-pc_Drive_next^post18 == 0 /\ -is_aborted_next^post18 <= 0 /\ 1+y^0-y_next^post18 <= 0 /\ is_aborted^post18 <= 0 /\ 1-n0^0 <= 0 /\ -2+pc_Loop^post18 == 0), cost: 1
  19: l3 -> l4 : executed_Drive^0'=executed_Drive^post19, y_next^0'=y_next^post19, pc_Drive^0'=pc_Drive^post19, x^0'=x^post19, is_aborted_next^0'=is_aborted_next^post19, pc_Loop^0'=pc_Loop^post19, y^0'=y^post19, n1^0'=n1^post19, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=is_aborted^post19, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x_next^post19, n0^0'=n0^post19, pc_Plan^0'=pc_Plan^post19, (0 == 0 /\ -n0^post19+n0^0 == 0 /\ pc_Drive^post19-pc_Drive_next^post19 == 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -is_aborted_next^post19 <= 0 /\ -1+is_aborted_next^post19 <= 0 /\ x^0-x_next^post19 <= 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ is_aborted^post19 <= 0 /\ pc_Plan^post19-pc_Plan_next^post19 == 0 /\ n1^0-n1^post19 == 0 /\ 1+y^post19-n1^0 <= 0 /\ 1-pc_Drive_next^post19 <= 0 /\ -x^0+x_next^post19 <= 0 /\ -y_next^post19+y^post19 == 0 /\ -2+pc_Loop^post19 == 0 /\ y_next^post19-y^0 <= 0 /\ -x_next^post19+x^post19 == 0 /\ is_aborted^post19-is_aborted_next^post19 == 0 /\ 1-n1^0 <= 0 /\ 1-pc_Plan_next^post19 <= 0 /\ 5-pc_Drive_next^post19 <= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ executed_Drive^post19 == 0 /\ -y_next^post19+y^0 <= 0 /\ 1+x^post19-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 1
  20: l3 -> l4 : executed_Drive^0'=executed_Drive^post20, y_next^0'=y_next^post20, pc_Drive^0'=pc_Drive^post20, x^0'=x^post20, is_aborted_next^0'=is_aborted_next^post20, pc_Loop^0'=pc_Loop^post20, y^0'=y^post20, n1^0'=n1^post20, pc_Plan_next^0'=pc_Plan_next^post20, is_aborted^0'=is_aborted^post20, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x_next^post20, n0^0'=n0^post20, pc_Plan^0'=pc_Plan^post20, (0 == 0 /\ -x^0+x_next^post20 <= 0 /\ -7+pc_Drive_next^post20 <= 0 /\ y^0-y^post20 == 0 /\ y^0-y_next^post20 <= 0 /\ pc_Drive^post20-pc_Drive_next^post20 == 0 /\ executed_Drive^post20 == 0 /\ x^0-x_next^post20 <= 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ -7+pc_Plan_next^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -pc_Plan_next^post20+pc_Plan^post20 == 0 /\ -n0^post20+n0^0 == 0 /\ -y^0+y_next^post20 <= 0 /\ -1+is_aborted_next^post20 <= 0 /\ -2+pc_Loop^post20 == 0 /\ -is_aborted_next^post20 <= 0 /\ 1-pc_Drive_next^post20 <= 0 /\ is_aborted^post20 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -is_aborted_next^post20+is_aborted^post20 == 0 /\ 1-pc_Plan_next^post20 <= 0 /\ x^0-x^post20 == 0 /\ 1+x^0-n0^0 <= 0 /\ n1^0-n1^post20 == 0 /\ 1-n0^0 <= 0), cost: 1
  24: l4 -> l5 : executed_Drive^0'=executed_Drive^post24, y_next^0'=y_next^post24, pc_Drive^0'=pc_Drive^post24, x^0'=x^post24, is_aborted_next^0'=is_aborted_next^post24, pc_Loop^0'=pc_Loop^post24, y^0'=y^post24, n1^0'=n1^post24, pc_Plan_next^0'=pc_Plan_next^post24, is_aborted^0'=is_aborted^post24, pc_Drive_next^0'=pc_Drive_next^post24, x_next^0'=x_next^post24, n0^0'=n0^post24, pc_Plan^0'=pc_Plan^post24, (0 == 0 /\ -is_aborted_next^post24+is_aborted^post24 == 0 /\ pc_Plan^post24-pc_Plan_next^post24 == 0 /\ x^post24-x_next^post24 == 0 /\ 1-pc_Drive_next^post24 <= 0 /\ -y_next^post24+y^post24 == 0 /\ -1+executed_Drive^post24 == 0 /\ -1-y^0+y_next^post24 <= 0 /\ -n1^post24+n1^0 == 0 /\ 1-pc_Plan_next^post24 <= 0 /\ -1-x^0+x_next^post24 <= 0 /\ -n0^post24+n0^0 == 0 /\ -4+pc_Drive_next^post24 <= 0 /\ 4-pc_Drive_next^post24 <= 0 /\ -7+pc_Drive_next^post24 <= 0 /\ -3+pc_Loop^post24 == 0 /\ pc_Drive^post24-pc_Drive_next^post24 == 0 /\ 1+y^0-y_next^post24 <= 0 /\ -is_aborted_next^post24 <= 0 /\ is_aborted^post24 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ 1+x^0-x_next^post24 <= 0 /\ -1+is_aborted_next^post24 <= 0), cost: 1
  25: l4 -> l5 : executed_Drive^0'=executed_Drive^post25, y_next^0'=y_next^post25, pc_Drive^0'=pc_Drive^post25, x^0'=x^post25, is_aborted_next^0'=is_aborted_next^post25, pc_Loop^0'=pc_Loop^post25, y^0'=y^post25, n1^0'=n1^post25, pc_Plan_next^0'=pc_Plan_next^post25, is_aborted^0'=is_aborted^post25, pc_Drive_next^0'=pc_Drive_next^post25, x_next^0'=x_next^post25, n0^0'=n0^post25, pc_Plan^0'=pc_Plan^post25, (0 == 0 /\ y^post25-y_next^post25 == 0 /\ 1-pc_Plan_next^post25 <= 0 /\ -1+is_aborted_next^post25 <= 0 /\ -y_next^post25+y^0 <= 0 /\ -is_aborted_next^post25 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ is_aborted^post25-is_aborted_next^post25 == 0 /\ y_next^post25-y^0 <= 0 /\ 5-pc_Drive_next^post25 <= 0 /\ is_aborted^post25 <= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -3+pc_Loop^post25 == 0 /\ x^0-x_next^post25 <= 0 /\ pc_Plan^post25-pc_Plan_next^post25 == 0 /\ x^post25-x_next^post25 == 0 /\ n1^0-n1^post25 == 0 /\ 1-pc_Drive_next^post25 <= 0 /\ executed_Drive^0-executed_Drive^post25 == 0 /\ -n0^post25+n0^0 == 0 /\ -x^0+x_next^post25 <= 0 /\ pc_Drive^post25-pc_Drive_next^post25 == 0), cost: 1
  26: l4 -> l5 : executed_Drive^0'=executed_Drive^post26, y_next^0'=y_next^post26, pc_Drive^0'=pc_Drive^post26, x^0'=x^post26, is_aborted_next^0'=is_aborted_next^post26, pc_Loop^0'=pc_Loop^post26, y^0'=y^post26, n1^0'=n1^post26, pc_Plan_next^0'=pc_Plan_next^post26, is_aborted^0'=is_aborted^post26, pc_Drive_next^0'=pc_Drive_next^post26, x_next^0'=x_next^post26, n0^0'=n0^post26, pc_Plan^0'=pc_Plan^post26, (0 == 0 /\ y^0-y_next^post26 <= 0 /\ x^0-x_next^post26 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -pc_Drive_next^post26+pc_Drive^post26 == 0 /\ executed_Drive^0-executed_Drive^post26 == 0 /\ -is_aborted_next^post26+is_aborted^post26 == 0 /\ -n0^post26+n0^0 == 0 /\ pc_Plan^post26-pc_Plan_next^post26 == 0 /\ -y^0+y_next^post26 <= 0 /\ -x^0+x_next^post26 <= 0 /\ 1-pc_Drive_next^post26 <= 0 /\ -3+pc_Loop^post26 == 0 /\ -y_next^post26+y^post26 == 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -x_next^post26+x^post26 == 0 /\ 1-pc_Plan_next^post26 <= 0 /\ -1+is_aborted_next^post26 <= 0 /\ is_aborted^post26 <= 0 /\ -is_aborted_next^post26 <= 0 /\ -7+pc_Drive_next^post26 <= 0 /\ -n1^post26+n1^0 == 0), cost: 1
  21: l5 -> l2 : executed_Drive^0'=executed_Drive^post21, y_next^0'=y_next^post21, pc_Drive^0'=pc_Drive^post21, x^0'=x^post21, is_aborted_next^0'=is_aborted_next^post21, pc_Loop^0'=pc_Loop^post21, y^0'=y^post21, n1^0'=n1^post21, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=is_aborted^post21, pc_Drive_next^0'=pc_Drive_next^post21, x_next^0'=x_next^post21, n0^0'=n0^post21, pc_Plan^0'=pc_Plan^post21, (0 == 0 /\ -6+pc_Loop^post21 == 0 /\ -4+pc_Drive_next^post21 <= 0 /\ 4-pc_Drive_next^post21 <= 0 /\ 1-is_aborted^post21 <= 0 /\ n1^0-n1^post21 == 0 /\ -7+pc_Drive_next^post21 <= 0 /\ -1+x_next^post21-x^0 <= 0 /\ pc_Drive^post21-pc_Drive_next^post21 == 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -is_aborted_next^post21 <= 0 /\ -x_next^post21+x^post21 == 0 /\ -1+is_aborted_next^post21 <= 0 /\ is_aborted^post21-is_aborted_next^post21 == 0 /\ 1-y_next^post21+y^0 <= 0 /\ -n0^post21+n0^0 == 0 /\ pc_Plan^post21-pc_Plan_next^post21 == 0 /\ 1-pc_Drive_next^post21 <= 0 /\ 1-x_next^post21+x^0 <= 0 /\ -y_next^post21+y^post21 == 0 /\ -1+executed_Drive^post21 == 0 /\ -1+y_next^post21-y^0 <= 0 /\ 1-pc_Plan_next^post21 <= 0), cost: 1
  22: l5 -> l2 : executed_Drive^0'=executed_Drive^post22, y_next^0'=y_next^post22, pc_Drive^0'=pc_Drive^post22, x^0'=x^post22, is_aborted_next^0'=is_aborted_next^post22, pc_Loop^0'=pc_Loop^post22, y^0'=y^post22, n1^0'=n1^post22, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=is_aborted^post22, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=x_next^post22, n0^0'=n0^post22, pc_Plan^0'=pc_Plan^post22, (0 == 0 /\ 1-pc_Plan_next^post22 <= 0 /\ -y_next^post22+y^0 <= 0 /\ -x_next^post22+x^post22 == 0 /\ -6+pc_Loop^post22 == 0 /\ -7+pc_Drive_next^post22 <= 0 /\ y_next^post22-y^0 <= 0 /\ 5-pc_Drive_next^post22 <= 0 /\ x^0-x_next^post22 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ pc_Plan^post22-pc_Plan_next^post22 == 0 /\ -1+is_aborted_next^post22 <= 0 /\ 1-is_aborted^post22 <= 0 /\ n1^0-n1^post22 == 0 /\ -is_aborted_next^post22 <= 0 /\ -x^0+x_next^post22 <= 0 /\ 1-pc_Drive_next^post22 <= 0 /\ executed_Drive^0-executed_Drive^post22 == 0 /\ pc_Drive^post22-pc_Drive_next^post22 == 0 /\ -y_next^post22+y^post22 == 0 /\ is_aborted^post22-is_aborted_next^post22 == 0 /\ -n0^post22+n0^0 == 0), cost: 1
  23: l5 -> l2 : executed_Drive^0'=executed_Drive^post23, y_next^0'=y_next^post23, pc_Drive^0'=pc_Drive^post23, x^0'=x^post23, is_aborted_next^0'=is_aborted_next^post23, pc_Loop^0'=pc_Loop^post23, y^0'=y^post23, n1^0'=n1^post23, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=is_aborted^post23, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=x_next^post23, n0^0'=n0^post23, pc_Plan^0'=pc_Plan^post23, (0 == 0 /\ -x^0+x_next^post23 <= 0 /\ -7+pc_Drive_next^post23 <= 0 /\ pc_Drive^post23-pc_Drive_next^post23 == 0 /\ -y_next^post23+y^post23 == 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -is_aborted_next^post23 <= 0 /\ -n0^post23+n0^0 == 0 /\ -1+is_aborted_next^post23 <= 0 /\ x^0-x_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-is_aborted^post23 <= 0 /\ -6+pc_Loop^post23 == 0 /\ 1-pc_Drive_next^post23 <= 0 /\ executed_Drive^0-executed_Drive^post23 == 0 /\ y^0-y_next^post23 <= 0 /\ -is_aborted_next^post23+is_aborted^post23 == 0 /\ -x_next^post23+x^post23 == 0 /\ 1-pc_Plan_next^post23 <= 0 /\ -y^0+y_next^post23 <= 0 /\ pc_Plan^post23-pc_Plan_next^post23 == 0 /\ n1^0-n1^post23 == 0), cost: 1
  36: l6 -> l1 : executed_Drive^0'=executed_Drive^post36, y_next^0'=y_next^post36, pc_Drive^0'=pc_Drive^post36, x^0'=x^post36, is_aborted_next^0'=is_aborted_next^post36, pc_Loop^0'=pc_Loop^post36, y^0'=y^post36, n1^0'=n1^post36, pc_Plan_next^0'=pc_Plan_next^post36, is_aborted^0'=is_aborted^post36, pc_Drive_next^0'=pc_Drive_next^post36, x_next^0'=x_next^post36, n0^0'=n0^post36, pc_Plan^0'=pc_Plan^post36, (pc_Loop^0-pc_Loop^post36 == 0 /\ is_aborted_next^0-is_aborted_next^post36 == 0 /\ x_next^0-x_next^post36 == 0 /\ x^0-x^post36 == 0 /\ -n0^post36+n0^0 == 0 /\ pc_Drive^0-pc_Drive^post36 == 0 /\ -n1^post36+n1^0 == 0 /\ y_next^0-y_next^post36 == 0 /\ -is_aborted^post36+is_aborted^0 == 0 /\ executed_Drive^0-executed_Drive^post36 == 0 /\ -pc_Drive_next^post36+pc_Drive_next^0 == 0 /\ -pc_Plan^post36+pc_Plan^0 == 0 /\ pc_Plan_next^0-pc_Plan_next^post36 == 0 /\ -y^post36+y^0 == 0), cost: 1
  37: l7 -> l6 : executed_Drive^0'=executed_Drive^post37, y_next^0'=y_next^post37, pc_Drive^0'=pc_Drive^post37, x^0'=x^post37, is_aborted_next^0'=is_aborted_next^post37, pc_Loop^0'=pc_Loop^post37, y^0'=y^post37, n1^0'=n1^post37, pc_Plan_next^0'=pc_Plan_next^post37, is_aborted^0'=is_aborted^post37, pc_Drive_next^0'=pc_Drive_next^post37, x_next^0'=x_next^post37, n0^0'=n0^post37, pc_Plan^0'=pc_Plan^post37, (n1^0-n1^post37 == 0 /\ pc_Plan_next^0-pc_Plan_next^post37 == 0 /\ is_aborted_next^0-is_aborted_next^post37 == 0 /\ -pc_Drive_next^post37+pc_Drive_next^0 == 0 /\ pc_Drive^0-pc_Drive^post37 == 0 /\ -is_aborted^post37+is_aborted^0 == 0 /\ pc_Loop^0-pc_Loop^post37 == 0 /\ executed_Drive^0-executed_Drive^post37 == 0 /\ -x_next^post37+x_next^0 == 0 /\ -n0^post37+n0^0 == 0 /\ -y^post37+y^0 == 0 /\ -pc_Plan^post37+pc_Plan^0 == 0 /\ -y_next^post37+y_next^0 == 0 /\ x^0-x^post37 == 0), cost: 1


Applied preprocessing
Original rule:
l2 -> l3 : executed_Drive^0'=executed_Drive^post7, y_next^0'=y_next^post7, pc_Drive^0'=pc_Drive^post7, x^0'=x^post7, is_aborted_next^0'=is_aborted_next^post7, pc_Loop^0'=pc_Loop^post7, y^0'=y^post7, n1^0'=n1^post7, pc_Plan_next^0'=pc_Plan_next^post7, is_aborted^0'=is_aborted^post7, pc_Drive_next^0'=pc_Drive_next^post7, x_next^0'=x_next^post7, n0^0'=n0^post7, pc_Plan^0'=pc_Plan^post7, (0 == 0 /\ 5-pc_Drive_next^post7 <= 0 /\ -y^0+y_next^post7 <= 0 /\ -7+pc_Drive_next^post7 <= 0 /\ -x^0+x_next^post7 <= 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ y^0-y_next^post7 <= 0 /\ pc_Drive^post7-pc_Drive_next^post7 == 0 /\ n0^0-n0^post7 == 0 /\ x^0-x_next^post7 <= 0 /\ -n1^post7+n1^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ executed_Drive^0-executed_Drive^post7 == 0 /\ -7+pc_Drive^post7 <= 0 /\ 7-pc_Drive^post7 <= 0 /\ x^post7-x_next^post7 == 0 /\ -4+pc_Loop^post7 == 0 /\ -1+is_aborted_next^post7 <= 0 /\ pc_Plan^post7-pc_Plan_next^post7 == 0 /\ is_aborted^post7-is_aborted_next^post7 == 0 /\ -is_aborted_next^post7 <= 0 /\ 1-pc_Drive_next^post7 <= 0 /\ -y_next^post7+y^post7 == 0 /\ 1-pc_Plan_next^post7 <= 0), cost: 1
New rule:
l2 -> l3 : y_next^0'=y^0, pc_Drive^0'=7, is_aborted_next^0'=is_aborted_next^post7, pc_Loop^0'=4, pc_Plan_next^0'=pc_Plan_next^post7, is_aborted^0'=is_aborted_next^post7, pc_Drive_next^0'=7, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post7, (-1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0), cost: 1

Applied preprocessing
Original rule:
l2 -> l3 : executed_Drive^0'=executed_Drive^post11, y_next^0'=y_next^post11, pc_Drive^0'=pc_Drive^post11, x^0'=x^post11, is_aborted_next^0'=is_aborted_next^post11, pc_Loop^0'=pc_Loop^post11, y^0'=y^post11, n1^0'=n1^post11, pc_Plan_next^0'=pc_Plan_next^post11, is_aborted^0'=is_aborted^post11, pc_Drive_next^0'=pc_Drive_next^post11, x_next^0'=x_next^post11, n0^0'=n0^post11, pc_Plan^0'=pc_Plan^post11, (0 == 0 /\ x^0-x_next^post11 <= 0 /\ y^post11-y_next^post11 == 0 /\ -1+is_aborted_next^post11 <= 0 /\ -is_aborted_next^post11 <= 0 /\ -7+pc_Plan_next^post11 <= 0 /\ -x^0+x_next^post11 <= 0 /\ 1-pc_Drive_next^post11 <= 0 /\ executed_Drive^post11 == 0 /\ -pc_Plan_next^post11+pc_Plan^post11 == 0 /\ n0^0-n0^post11 == 0 /\ 2-pc_Drive^post11 <= 0 /\ -3+pc_Drive_next^post11 <= 0 /\ 1-pc_Plan_next^post11 <= 0 /\ -y^0+y_next^post11 <= 0 /\ -7+pc_Drive_next^post11 <= 0 /\ -x_next^post11+x^post11 == 0 /\ -n1^post11+n1^0 == 0 /\ -pc_Drive_next^post11+pc_Drive^post11 == 0 /\ -4+pc_Loop^post11 == 0 /\ y^0-y_next^post11 <= 0 /\ -is_aborted_next^post11+is_aborted^post11 == 0 /\ -2+pc_Drive^post11 <= 0), cost: 1
New rule:
l2 -> l3 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=2, is_aborted_next^0'=is_aborted^post11, pc_Loop^0'=4, pc_Plan_next^0'=pc_Plan^post11, is_aborted^0'=is_aborted^post11, pc_Drive_next^0'=2, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post11, (-1+pc_Plan^post11 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0), cost: 1

Applied preprocessing
Original rule:
l3 -> l4 : executed_Drive^0'=executed_Drive^post18, y_next^0'=y_next^post18, pc_Drive^0'=pc_Drive^post18, x^0'=x^post18, is_aborted_next^0'=is_aborted_next^post18, pc_Loop^0'=pc_Loop^post18, y^0'=y^post18, n1^0'=n1^post18, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=is_aborted^post18, pc_Drive_next^0'=pc_Drive_next^post18, x_next^0'=x_next^post18, n0^0'=n0^post18, pc_Plan^0'=pc_Plan^post18, (0 == 0 /\ -1-x^0+x_next^post18 <= 0 /\ -y_next^post18+y^post18 == 0 /\ -is_aborted_next^post18+is_aborted^post18 == 0 /\ -7+pc_Plan_next^post18 <= 0 /\ pc_Plan^post18-pc_Plan_next^post18 == 0 /\ x^post18-x_next^post18 == 0 /\ -n1^post18+n1^0 == 0 /\ 1+x^post18-n0^0 <= 0 /\ -7+pc_Drive_next^post18 <= 0 /\ -4+pc_Drive_next^post18 <= 0 /\ 4-pc_Drive_next^post18 <= 0 /\ 1-executed_Drive^10 <= 0 /\ -1+executed_Drive^10 <= 0 /\ -1+executed_Drive^10 == 0 /\ -1-y^0+y_next^post18 <= 0 /\ 1+x^0-x_next^post18 <= 0 /\ 1-pc_Plan_next^post18 <= 0 /\ executed_Drive^post18 == 0 /\ 1-n1^0+y^post18 <= 0 /\ 1-n1^0 <= 0 /\ 1-pc_Drive_next^post18 <= 0 /\ -n0^post18+n0^0 == 0 /\ -1+is_aborted_next^post18 <= 0 /\ pc_Drive^post18-pc_Drive_next^post18 == 0 /\ -is_aborted_next^post18 <= 0 /\ 1+y^0-y_next^post18 <= 0 /\ is_aborted^post18 <= 0 /\ 1-n0^0 <= 0 /\ -2+pc_Loop^post18 == 0), cost: 1
New rule:
l3 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l3 -> l4 : executed_Drive^0'=executed_Drive^post19, y_next^0'=y_next^post19, pc_Drive^0'=pc_Drive^post19, x^0'=x^post19, is_aborted_next^0'=is_aborted_next^post19, pc_Loop^0'=pc_Loop^post19, y^0'=y^post19, n1^0'=n1^post19, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=is_aborted^post19, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x_next^post19, n0^0'=n0^post19, pc_Plan^0'=pc_Plan^post19, (0 == 0 /\ -n0^post19+n0^0 == 0 /\ pc_Drive^post19-pc_Drive_next^post19 == 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -is_aborted_next^post19 <= 0 /\ -1+is_aborted_next^post19 <= 0 /\ x^0-x_next^post19 <= 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ is_aborted^post19 <= 0 /\ pc_Plan^post19-pc_Plan_next^post19 == 0 /\ n1^0-n1^post19 == 0 /\ 1+y^post19-n1^0 <= 0 /\ 1-pc_Drive_next^post19 <= 0 /\ -x^0+x_next^post19 <= 0 /\ -y_next^post19+y^post19 == 0 /\ -2+pc_Loop^post19 == 0 /\ y_next^post19-y^0 <= 0 /\ -x_next^post19+x^post19 == 0 /\ is_aborted^post19-is_aborted_next^post19 == 0 /\ 1-n1^0 <= 0 /\ 1-pc_Plan_next^post19 <= 0 /\ 5-pc_Drive_next^post19 <= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ executed_Drive^post19 == 0 /\ -y_next^post19+y^0 <= 0 /\ 1+x^post19-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 1
New rule:
l3 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l3 -> l4 : executed_Drive^0'=executed_Drive^post20, y_next^0'=y_next^post20, pc_Drive^0'=pc_Drive^post20, x^0'=x^post20, is_aborted_next^0'=is_aborted_next^post20, pc_Loop^0'=pc_Loop^post20, y^0'=y^post20, n1^0'=n1^post20, pc_Plan_next^0'=pc_Plan_next^post20, is_aborted^0'=is_aborted^post20, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x_next^post20, n0^0'=n0^post20, pc_Plan^0'=pc_Plan^post20, (0 == 0 /\ -x^0+x_next^post20 <= 0 /\ -7+pc_Drive_next^post20 <= 0 /\ y^0-y^post20 == 0 /\ y^0-y_next^post20 <= 0 /\ pc_Drive^post20-pc_Drive_next^post20 == 0 /\ executed_Drive^post20 == 0 /\ x^0-x_next^post20 <= 0 /\ 1-executed_Drive^0 <= 0 /\ -1+executed_Drive^0 <= 0 /\ -7+pc_Plan_next^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -pc_Plan_next^post20+pc_Plan^post20 == 0 /\ -n0^post20+n0^0 == 0 /\ -y^0+y_next^post20 <= 0 /\ -1+is_aborted_next^post20 <= 0 /\ -2+pc_Loop^post20 == 0 /\ -is_aborted_next^post20 <= 0 /\ 1-pc_Drive_next^post20 <= 0 /\ is_aborted^post20 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -is_aborted_next^post20+is_aborted^post20 == 0 /\ 1-pc_Plan_next^post20 <= 0 /\ x^0-x^post20 == 0 /\ 1+x^0-n0^0 <= 0 /\ n1^0-n1^post20 == 0 /\ 1-n0^0 <= 0), cost: 1
New rule:
l3 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l5 -> l2 : executed_Drive^0'=executed_Drive^post21, y_next^0'=y_next^post21, pc_Drive^0'=pc_Drive^post21, x^0'=x^post21, is_aborted_next^0'=is_aborted_next^post21, pc_Loop^0'=pc_Loop^post21, y^0'=y^post21, n1^0'=n1^post21, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=is_aborted^post21, pc_Drive_next^0'=pc_Drive_next^post21, x_next^0'=x_next^post21, n0^0'=n0^post21, pc_Plan^0'=pc_Plan^post21, (0 == 0 /\ -6+pc_Loop^post21 == 0 /\ -4+pc_Drive_next^post21 <= 0 /\ 4-pc_Drive_next^post21 <= 0 /\ 1-is_aborted^post21 <= 0 /\ n1^0-n1^post21 == 0 /\ -7+pc_Drive_next^post21 <= 0 /\ -1+x_next^post21-x^0 <= 0 /\ pc_Drive^post21-pc_Drive_next^post21 == 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -is_aborted_next^post21 <= 0 /\ -x_next^post21+x^post21 == 0 /\ -1+is_aborted_next^post21 <= 0 /\ is_aborted^post21-is_aborted_next^post21 == 0 /\ 1-y_next^post21+y^0 <= 0 /\ -n0^post21+n0^0 == 0 /\ pc_Plan^post21-pc_Plan_next^post21 == 0 /\ 1-pc_Drive_next^post21 <= 0 /\ 1-x_next^post21+x^0 <= 0 /\ -y_next^post21+y^post21 == 0 /\ -1+executed_Drive^post21 == 0 /\ -1+y_next^post21-y^0 <= 0 /\ 1-pc_Plan_next^post21 <= 0), cost: 1
New rule:
l5 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=1, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post21, (-7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 1

Applied preprocessing
Original rule:
l5 -> l2 : executed_Drive^0'=executed_Drive^post22, y_next^0'=y_next^post22, pc_Drive^0'=pc_Drive^post22, x^0'=x^post22, is_aborted_next^0'=is_aborted_next^post22, pc_Loop^0'=pc_Loop^post22, y^0'=y^post22, n1^0'=n1^post22, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=is_aborted^post22, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=x_next^post22, n0^0'=n0^post22, pc_Plan^0'=pc_Plan^post22, (0 == 0 /\ 1-pc_Plan_next^post22 <= 0 /\ -y_next^post22+y^0 <= 0 /\ -x_next^post22+x^post22 == 0 /\ -6+pc_Loop^post22 == 0 /\ -7+pc_Drive_next^post22 <= 0 /\ y_next^post22-y^0 <= 0 /\ 5-pc_Drive_next^post22 <= 0 /\ x^0-x_next^post22 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ pc_Plan^post22-pc_Plan_next^post22 == 0 /\ -1+is_aborted_next^post22 <= 0 /\ 1-is_aborted^post22 <= 0 /\ n1^0-n1^post22 == 0 /\ -is_aborted_next^post22 <= 0 /\ -x^0+x_next^post22 <= 0 /\ 1-pc_Drive_next^post22 <= 0 /\ executed_Drive^0-executed_Drive^post22 == 0 /\ pc_Drive^post22-pc_Drive_next^post22 == 0 /\ -y_next^post22+y^post22 == 0 /\ is_aborted^post22-is_aborted_next^post22 == 0 /\ -n0^post22+n0^0 == 0), cost: 1
New rule:
l5 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post22, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post22 <= 0), cost: 1

Applied preprocessing
Original rule:
l5 -> l2 : executed_Drive^0'=executed_Drive^post23, y_next^0'=y_next^post23, pc_Drive^0'=pc_Drive^post23, x^0'=x^post23, is_aborted_next^0'=is_aborted_next^post23, pc_Loop^0'=pc_Loop^post23, y^0'=y^post23, n1^0'=n1^post23, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=is_aborted^post23, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=x_next^post23, n0^0'=n0^post23, pc_Plan^0'=pc_Plan^post23, (0 == 0 /\ -x^0+x_next^post23 <= 0 /\ -7+pc_Drive_next^post23 <= 0 /\ pc_Drive^post23-pc_Drive_next^post23 == 0 /\ -y_next^post23+y^post23 == 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -is_aborted_next^post23 <= 0 /\ -n0^post23+n0^0 == 0 /\ -1+is_aborted_next^post23 <= 0 /\ x^0-x_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ 1-is_aborted^post23 <= 0 /\ -6+pc_Loop^post23 == 0 /\ 1-pc_Drive_next^post23 <= 0 /\ executed_Drive^0-executed_Drive^post23 == 0 /\ y^0-y_next^post23 <= 0 /\ -is_aborted_next^post23+is_aborted^post23 == 0 /\ -x_next^post23+x^post23 == 0 /\ 1-pc_Plan_next^post23 <= 0 /\ -y^0+y_next^post23 <= 0 /\ pc_Plan^post23-pc_Plan_next^post23 == 0 /\ n1^0-n1^post23 == 0), cost: 1
New rule:
l5 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post23, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0), cost: 1

Applied preprocessing
Original rule:
l4 -> l5 : executed_Drive^0'=executed_Drive^post24, y_next^0'=y_next^post24, pc_Drive^0'=pc_Drive^post24, x^0'=x^post24, is_aborted_next^0'=is_aborted_next^post24, pc_Loop^0'=pc_Loop^post24, y^0'=y^post24, n1^0'=n1^post24, pc_Plan_next^0'=pc_Plan_next^post24, is_aborted^0'=is_aborted^post24, pc_Drive_next^0'=pc_Drive_next^post24, x_next^0'=x_next^post24, n0^0'=n0^post24, pc_Plan^0'=pc_Plan^post24, (0 == 0 /\ -is_aborted_next^post24+is_aborted^post24 == 0 /\ pc_Plan^post24-pc_Plan_next^post24 == 0 /\ x^post24-x_next^post24 == 0 /\ 1-pc_Drive_next^post24 <= 0 /\ -y_next^post24+y^post24 == 0 /\ -1+executed_Drive^post24 == 0 /\ -1-y^0+y_next^post24 <= 0 /\ -n1^post24+n1^0 == 0 /\ 1-pc_Plan_next^post24 <= 0 /\ -1-x^0+x_next^post24 <= 0 /\ -n0^post24+n0^0 == 0 /\ -4+pc_Drive_next^post24 <= 0 /\ 4-pc_Drive_next^post24 <= 0 /\ -7+pc_Drive_next^post24 <= 0 /\ -3+pc_Loop^post24 == 0 /\ pc_Drive^post24-pc_Drive_next^post24 == 0 /\ 1+y^0-y_next^post24 <= 0 /\ -is_aborted_next^post24 <= 0 /\ is_aborted^post24 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ 1+x^0-x_next^post24 <= 0 /\ -1+is_aborted_next^post24 <= 0), cost: 1
New rule:
l4 -> l5 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=3, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post24, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post24, (-1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post24 <= 0), cost: 1

Applied preprocessing
Original rule:
l4 -> l5 : executed_Drive^0'=executed_Drive^post25, y_next^0'=y_next^post25, pc_Drive^0'=pc_Drive^post25, x^0'=x^post25, is_aborted_next^0'=is_aborted_next^post25, pc_Loop^0'=pc_Loop^post25, y^0'=y^post25, n1^0'=n1^post25, pc_Plan_next^0'=pc_Plan_next^post25, is_aborted^0'=is_aborted^post25, pc_Drive_next^0'=pc_Drive_next^post25, x_next^0'=x_next^post25, n0^0'=n0^post25, pc_Plan^0'=pc_Plan^post25, (0 == 0 /\ y^post25-y_next^post25 == 0 /\ 1-pc_Plan_next^post25 <= 0 /\ -1+is_aborted_next^post25 <= 0 /\ -y_next^post25+y^0 <= 0 /\ -is_aborted_next^post25 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ is_aborted^post25-is_aborted_next^post25 == 0 /\ y_next^post25-y^0 <= 0 /\ 5-pc_Drive_next^post25 <= 0 /\ is_aborted^post25 <= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -3+pc_Loop^post25 == 0 /\ x^0-x_next^post25 <= 0 /\ pc_Plan^post25-pc_Plan_next^post25 == 0 /\ x^post25-x_next^post25 == 0 /\ n1^0-n1^post25 == 0 /\ 1-pc_Drive_next^post25 <= 0 /\ executed_Drive^0-executed_Drive^post25 == 0 /\ -n0^post25+n0^0 == 0 /\ -x^0+x_next^post25 <= 0 /\ pc_Drive^post25-pc_Drive_next^post25 == 0), cost: 1
New rule:
l4 -> l5 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post25, is_aborted_next^0'=0, pc_Loop^0'=3, pc_Plan_next^0'=pc_Plan_next^post25, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post25, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post25, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0), cost: 1

Applied preprocessing
Original rule:
l4 -> l5 : executed_Drive^0'=executed_Drive^post26, y_next^0'=y_next^post26, pc_Drive^0'=pc_Drive^post26, x^0'=x^post26, is_aborted_next^0'=is_aborted_next^post26, pc_Loop^0'=pc_Loop^post26, y^0'=y^post26, n1^0'=n1^post26, pc_Plan_next^0'=pc_Plan_next^post26, is_aborted^0'=is_aborted^post26, pc_Drive_next^0'=pc_Drive_next^post26, x_next^0'=x_next^post26, n0^0'=n0^post26, pc_Plan^0'=pc_Plan^post26, (0 == 0 /\ y^0-y_next^post26 <= 0 /\ x^0-x_next^post26 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -pc_Drive_next^post26+pc_Drive^post26 == 0 /\ executed_Drive^0-executed_Drive^post26 == 0 /\ -is_aborted_next^post26+is_aborted^post26 == 0 /\ -n0^post26+n0^0 == 0 /\ pc_Plan^post26-pc_Plan_next^post26 == 0 /\ -y^0+y_next^post26 <= 0 /\ -x^0+x_next^post26 <= 0 /\ 1-pc_Drive_next^post26 <= 0 /\ -3+pc_Loop^post26 == 0 /\ -y_next^post26+y^post26 == 0 /\ -3+pc_Drive_next^post26 <= 0 /\ -x_next^post26+x^post26 == 0 /\ 1-pc_Plan_next^post26 <= 0 /\ -1+is_aborted_next^post26 <= 0 /\ is_aborted^post26 <= 0 /\ -is_aborted_next^post26 <= 0 /\ -7+pc_Drive_next^post26 <= 0 /\ -n1^post26+n1^0 == 0), cost: 1
New rule:
l4 -> l5 : y_next^0'=y^0, pc_Drive^0'=pc_Drive^post26, is_aborted_next^0'=0, pc_Loop^0'=3, pc_Plan_next^0'=pc_Plan_next^post26, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive^post26, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post26, (-7+pc_Plan_next^post26 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0), cost: 1

Applied preprocessing
Original rule:
l1 -> l4 : executed_Drive^0'=executed_Drive^post30, y_next^0'=y_next^post30, pc_Drive^0'=pc_Drive^post30, x^0'=x^post30, is_aborted_next^0'=is_aborted_next^post30, pc_Loop^0'=pc_Loop^post30, y^0'=y^post30, n1^0'=n1^post30, pc_Plan_next^0'=pc_Plan_next^post30, is_aborted^0'=is_aborted^post30, pc_Drive_next^0'=pc_Drive_next^post30, x_next^0'=x_next^post30, n0^0'=n0^post30, pc_Plan^0'=pc_Plan^post30, (0 == 0 /\ -2+pc_Loop^post30 == 0 /\ -7+pc_Drive_next^post30 <= 0 /\ is_aborted^post30 <= 0 /\ -1+executed_Drive^post30 == 0 /\ pc_Drive^post30-pc_Drive_next^post30 == 0 /\ -4+pc_Drive_next^post30 <= 0 /\ 4-pc_Drive_next^post30 <= 0 /\ -1-y^0+y_next^post30 <= 0 /\ -n0^post30+n0^0 == 0 /\ -7+pc_Plan_next^post30 <= 0 /\ -is_aborted_next^post30 <= 0 /\ -1+is_aborted_next^post30 <= 0 /\ 3-pc_Plan^post30 <= 0 /\ -1+x_next^post30-x^0 <= 0 /\ is_aborted^post30-is_aborted_next^post30 == 0 /\ 1-pc_Drive_next^post30 <= 0 /\ y^post30-y_next^post30 == 0 /\ 1+y^0-y_next^post30 <= 0 /\ -x_next^post30+x^post30 == 0 /\ -3+pc_Plan^post30 <= 0 /\ 1-pc_Plan_next^post30 <= 0 /\ pc_Plan^post30-pc_Plan_next^post30 == 0 /\ 1-x_next^post30+x^0 <= 0 /\ n1^0-n1^post30 == 0), cost: 1
New rule:
l1 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 1

Applied preprocessing
Original rule:
l1 -> l4 : executed_Drive^0'=executed_Drive^post31, y_next^0'=y_next^post31, pc_Drive^0'=pc_Drive^post31, x^0'=x^post31, is_aborted_next^0'=is_aborted_next^post31, pc_Loop^0'=pc_Loop^post31, y^0'=y^post31, n1^0'=n1^post31, pc_Plan_next^0'=pc_Plan_next^post31, is_aborted^0'=is_aborted^post31, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x_next^post31, n0^0'=n0^post31, pc_Plan^0'=pc_Plan^post31, (0 == 0 /\ executed_Drive^post31 == 0 /\ -pc_Plan_next^post31+pc_Plan^post31 == 0 /\ y_next^post31-y^0 <= 0 /\ 1-pc_Drive_next^post31 <= 0 /\ -y_next^post31+y^post31 == 0 /\ -3+pc_Plan^post31 <= 0 /\ -y_next^post31+y^0 <= 0 /\ is_aborted^post31 <= 0 /\ 1-pc_Plan_next^post31 <= 0 /\ 5-pc_Drive_next^post31 <= 0 /\ -1+is_aborted_next^post31 <= 0 /\ n1^0-n1^post31 == 0 /\ is_aborted^post31-is_aborted_next^post31 == 0 /\ -is_aborted_next^post31 <= 0 /\ -x^0+x_next^post31 <= 0 /\ -7+pc_Drive_next^post31 <= 0 /\ -n0^post31+n0^0 == 0 /\ pc_Drive^post31-pc_Drive_next^post31 == 0 /\ -2+pc_Loop^post31 == 0 /\ -x_next^post31+x^post31 == 0 /\ 3-pc_Plan^post31 <= 0 /\ x^0-x_next^post31 <= 0 /\ -7+pc_Plan_next^post31 <= 0), cost: 1
New rule:
l1 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 1

Applied preprocessing
Original rule:
l1 -> l4 : executed_Drive^0'=executed_Drive^post32, y_next^0'=y_next^post32, pc_Drive^0'=pc_Drive^post32, x^0'=x^post32, is_aborted_next^0'=is_aborted_next^post32, pc_Loop^0'=pc_Loop^post32, y^0'=y^post32, n1^0'=n1^post32, pc_Plan_next^0'=pc_Plan_next^post32, is_aborted^0'=is_aborted^post32, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x_next^post32, n0^0'=n0^post32, pc_Plan^0'=pc_Plan^post32, (0 == 0 /\ -n0^post32+n0^0 == 0 /\ -y_next^post32+y^post32 == 0 /\ -1+is_aborted_next^post32 <= 0 /\ executed_Drive^post32 == 0 /\ -2+pc_Loop^post32 == 0 /\ 3-pc_Plan^post32 <= 0 /\ -is_aborted_next^post32 <= 0 /\ -3+pc_Drive_next^post32 <= 0 /\ 1-pc_Plan_next^post32 <= 0 /\ -is_aborted_next^post32+is_aborted^post32 == 0 /\ -7+pc_Drive_next^post32 <= 0 /\ pc_Drive^post32-pc_Drive_next^post32 == 0 /\ is_aborted^post32 <= 0 /\ -7+pc_Plan_next^post32 <= 0 /\ -x_next^post32+x^post32 == 0 /\ y_next^post32-y^0 <= 0 /\ -3+pc_Plan^post32 <= 0 /\ x^0-x_next^post32 <= 0 /\ pc_Plan^post32-pc_Plan_next^post32 == 0 /\ n1^0-n1^post32 == 0 /\ 1-pc_Drive_next^post32 <= 0 /\ -y_next^post32+y^0 <= 0 /\ -x^0+x_next^post32 <= 0), cost: 1
New rule:
l1 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 1

Applied preprocessing
Original rule:
l6 -> l1 : executed_Drive^0'=executed_Drive^post36, y_next^0'=y_next^post36, pc_Drive^0'=pc_Drive^post36, x^0'=x^post36, is_aborted_next^0'=is_aborted_next^post36, pc_Loop^0'=pc_Loop^post36, y^0'=y^post36, n1^0'=n1^post36, pc_Plan_next^0'=pc_Plan_next^post36, is_aborted^0'=is_aborted^post36, pc_Drive_next^0'=pc_Drive_next^post36, x_next^0'=x_next^post36, n0^0'=n0^post36, pc_Plan^0'=pc_Plan^post36, (pc_Loop^0-pc_Loop^post36 == 0 /\ is_aborted_next^0-is_aborted_next^post36 == 0 /\ x_next^0-x_next^post36 == 0 /\ x^0-x^post36 == 0 /\ -n0^post36+n0^0 == 0 /\ pc_Drive^0-pc_Drive^post36 == 0 /\ -n1^post36+n1^0 == 0 /\ y_next^0-y_next^post36 == 0 /\ -is_aborted^post36+is_aborted^0 == 0 /\ executed_Drive^0-executed_Drive^post36 == 0 /\ -pc_Drive_next^post36+pc_Drive_next^0 == 0 /\ -pc_Plan^post36+pc_Plan^0 == 0 /\ pc_Plan_next^0-pc_Plan_next^post36 == 0 /\ -y^post36+y^0 == 0), cost: 1
New rule:
l6 -> l1 : TRUE, cost: 1

Applied preprocessing
Original rule:
l7 -> l6 : executed_Drive^0'=executed_Drive^post37, y_next^0'=y_next^post37, pc_Drive^0'=pc_Drive^post37, x^0'=x^post37, is_aborted_next^0'=is_aborted_next^post37, pc_Loop^0'=pc_Loop^post37, y^0'=y^post37, n1^0'=n1^post37, pc_Plan_next^0'=pc_Plan_next^post37, is_aborted^0'=is_aborted^post37, pc_Drive_next^0'=pc_Drive_next^post37, x_next^0'=x_next^post37, n0^0'=n0^post37, pc_Plan^0'=pc_Plan^post37, (n1^0-n1^post37 == 0 /\ pc_Plan_next^0-pc_Plan_next^post37 == 0 /\ is_aborted_next^0-is_aborted_next^post37 == 0 /\ -pc_Drive_next^post37+pc_Drive_next^0 == 0 /\ pc_Drive^0-pc_Drive^post37 == 0 /\ -is_aborted^post37+is_aborted^0 == 0 /\ pc_Loop^0-pc_Loop^post37 == 0 /\ executed_Drive^0-executed_Drive^post37 == 0 /\ -x_next^post37+x_next^0 == 0 /\ -n0^post37+n0^0 == 0 /\ -y^post37+y^0 == 0 /\ -pc_Plan^post37+pc_Plan^0 == 0 /\ -y_next^post37+y_next^0 == 0 /\ x^0-x^post37 == 0), cost: 1
New rule:
l7 -> l6 : TRUE, cost: 1

Simplified rules
Start location: l7
  49: l1 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 1
  50: l1 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 1
  51: l1 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 1
  38: l2 -> l3 : y_next^0'=y^0, pc_Drive^0'=7, is_aborted_next^0'=is_aborted_next^post7, pc_Loop^0'=4, pc_Plan_next^0'=pc_Plan_next^post7, is_aborted^0'=is_aborted_next^post7, pc_Drive_next^0'=7, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post7, (-1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0), cost: 1
  39: l2 -> l3 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=2, is_aborted_next^0'=is_aborted^post11, pc_Loop^0'=4, pc_Plan_next^0'=pc_Plan^post11, is_aborted^0'=is_aborted^post11, pc_Drive_next^0'=2, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post11, (-1+pc_Plan^post11 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0), cost: 1
  40: l3 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0), cost: 1
  41: l3 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 1
  42: l3 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 1
  46: l4 -> l5 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=3, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post24, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post24, (-1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post24 <= 0), cost: 1
  47: l4 -> l5 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post25, is_aborted_next^0'=0, pc_Loop^0'=3, pc_Plan_next^0'=pc_Plan_next^post25, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post25, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post25, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0), cost: 1
  48: l4 -> l5 : y_next^0'=y^0, pc_Drive^0'=pc_Drive^post26, is_aborted_next^0'=0, pc_Loop^0'=3, pc_Plan_next^0'=pc_Plan_next^post26, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive^post26, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post26, (-7+pc_Plan_next^post26 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0), cost: 1
  43: l5 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=1, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post21, (-7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 1
  44: l5 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post22, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post22 <= 0), cost: 1
  45: l5 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post23, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0), cost: 1
  52: l6 -> l1 : TRUE, cost: 1
  53: l7 -> l6 : TRUE, cost: 1


Eliminating location l6 by chaining:

Applied chaining
First rule:
l7 -> l6 : TRUE, cost: 1
Second rule:
l6 -> l1 : TRUE, cost: 1
New rule:
l7 -> l1 : TRUE, cost: 2

Applied deletion
Removed the following rules: 52 53

Eliminated locations on linear paths
Start location: l7
  49: l1 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 1
  50: l1 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 1
  51: l1 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 1
  38: l2 -> l3 : y_next^0'=y^0, pc_Drive^0'=7, is_aborted_next^0'=is_aborted_next^post7, pc_Loop^0'=4, pc_Plan_next^0'=pc_Plan_next^post7, is_aborted^0'=is_aborted_next^post7, pc_Drive_next^0'=7, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post7, (-1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0), cost: 1
  39: l2 -> l3 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=2, is_aborted_next^0'=is_aborted^post11, pc_Loop^0'=4, pc_Plan_next^0'=pc_Plan^post11, is_aborted^0'=is_aborted^post11, pc_Drive_next^0'=2, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post11, (-1+pc_Plan^post11 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0), cost: 1
  40: l3 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0), cost: 1
  41: l3 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 1
  42: l3 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 1
  46: l4 -> l5 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=3, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post24, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post24, (-1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post24 <= 0), cost: 1
  47: l4 -> l5 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post25, is_aborted_next^0'=0, pc_Loop^0'=3, pc_Plan_next^0'=pc_Plan_next^post25, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post25, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post25, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0), cost: 1
  48: l4 -> l5 : y_next^0'=y^0, pc_Drive^0'=pc_Drive^post26, is_aborted_next^0'=0, pc_Loop^0'=3, pc_Plan_next^0'=pc_Plan_next^post26, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive^post26, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post26, (-7+pc_Plan_next^post26 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0), cost: 1
  43: l5 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=1, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post21, (-7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 1
  44: l5 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post22, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post22 <= 0), cost: 1
  45: l5 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post23, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0), cost: 1
  54: l7 -> l1 : TRUE, cost: 2


Eliminating location l1 by chaining:

Applied chaining
First rule:
l7 -> l1 : TRUE, cost: 2
Second rule:
l1 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 1
New rule:
l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3

Applied chaining
First rule:
l7 -> l1 : TRUE, cost: 2
Second rule:
l1 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 1
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3

Applied chaining
First rule:
l7 -> l1 : TRUE, cost: 2
Second rule:
l1 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 1
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3

Applied deletion
Removed the following rules: 49 50 51 54

Eliminating location l5 by chaining:

Applied chaining
First rule:
l4 -> l5 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=3, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post24, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post24, (-1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post24 <= 0), cost: 1
Second rule:
l5 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=1, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post21, (-7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 1
New rule:
l4 -> l2 : executed_Drive^0'=1, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=1, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post21, (-7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 2

Applied chaining
First rule:
l4 -> l5 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=3, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post24, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post24, (-1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post24 <= 0), cost: 1
Second rule:
l5 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post22, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post22 <= 0), cost: 1
New rule:
l4 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post22, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post22, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -7+pc_Plan_next^post24 <= 0), cost: 2

Applied chaining
First rule:
l4 -> l5 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=3, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post24, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post24, (-1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post24 <= 0), cost: 1
Second rule:
l5 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post23, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0), cost: 1
New rule:
l4 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post23, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post23, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan_next^post24 <= 0), cost: 2

Applied chaining
First rule:
l4 -> l5 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post25, is_aborted_next^0'=0, pc_Loop^0'=3, pc_Plan_next^0'=pc_Plan_next^post25, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post25, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post25, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0), cost: 1
Second rule:
l5 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=1, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post21, (-7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 1
New rule:
l4 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=1, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post21, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 2

Applied chaining
First rule:
l4 -> l5 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post25, is_aborted_next^0'=0, pc_Loop^0'=3, pc_Plan_next^0'=pc_Plan_next^post25, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post25, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post25, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0), cost: 1
Second rule:
l5 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post22, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post22 <= 0), cost: 1
New rule:
l4 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post22, (-1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -7+pc_Plan_next^post22 <= 0), cost: 2

Applied chaining
First rule:
l4 -> l5 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post25, is_aborted_next^0'=0, pc_Loop^0'=3, pc_Plan_next^0'=pc_Plan_next^post25, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post25, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post25, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0), cost: 1
Second rule:
l5 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post23, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0), cost: 1
New rule:
l4 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post23, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0), cost: 2

Applied chaining
First rule:
l4 -> l5 : y_next^0'=y^0, pc_Drive^0'=pc_Drive^post26, is_aborted_next^0'=0, pc_Loop^0'=3, pc_Plan_next^0'=pc_Plan_next^post26, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive^post26, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post26, (-7+pc_Plan_next^post26 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0), cost: 1
Second rule:
l5 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=1, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post21, (-7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 1
New rule:
l4 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=1, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post21, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 2

Applied chaining
First rule:
l4 -> l5 : y_next^0'=y^0, pc_Drive^0'=pc_Drive^post26, is_aborted_next^0'=0, pc_Loop^0'=3, pc_Plan_next^0'=pc_Plan_next^post26, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive^post26, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post26, (-7+pc_Plan_next^post26 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0), cost: 1
Second rule:
l5 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post22, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post22 <= 0), cost: 1
New rule:
l4 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post22, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -3+pc_Drive^post26 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0), cost: 2

Applied chaining
First rule:
l4 -> l5 : y_next^0'=y^0, pc_Drive^0'=pc_Drive^post26, is_aborted_next^0'=0, pc_Loop^0'=3, pc_Plan_next^0'=pc_Plan_next^post26, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive^post26, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post26, (-7+pc_Plan_next^post26 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0), cost: 1
Second rule:
l5 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post23, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0), cost: 1
New rule:
l4 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post23, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post23 >= 0), cost: 2

Applied deletion
Removed the following rules: 43 44 45 46 47 48

Eliminating location l3 by chaining:

Applied chaining
First rule:
l2 -> l3 : y_next^0'=y^0, pc_Drive^0'=7, is_aborted_next^0'=is_aborted_next^post7, pc_Loop^0'=4, pc_Plan_next^0'=pc_Plan_next^post7, is_aborted^0'=is_aborted_next^post7, pc_Drive_next^0'=7, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post7, (-1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0), cost: 1
Second rule:
l3 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0), cost: 1
New rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2

Applied chaining
First rule:
l2 -> l3 : y_next^0'=y^0, pc_Drive^0'=7, is_aborted_next^0'=is_aborted_next^post7, pc_Loop^0'=4, pc_Plan_next^0'=pc_Plan_next^post7, is_aborted^0'=is_aborted_next^post7, pc_Drive_next^0'=7, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post7, (-1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0), cost: 1
Second rule:
l3 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 1
New rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2

Applied chaining
First rule:
l2 -> l3 : y_next^0'=y^0, pc_Drive^0'=7, is_aborted_next^0'=is_aborted_next^post7, pc_Loop^0'=4, pc_Plan_next^0'=pc_Plan_next^post7, is_aborted^0'=is_aborted_next^post7, pc_Drive_next^0'=7, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post7, (-1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0), cost: 1
Second rule:
l3 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 1
New rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2

Applied chaining
First rule:
l2 -> l3 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=2, is_aborted_next^0'=is_aborted^post11, pc_Loop^0'=4, pc_Plan_next^0'=pc_Plan^post11, is_aborted^0'=is_aborted^post11, pc_Drive_next^0'=2, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post11, (-1+pc_Plan^post11 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0), cost: 1
Second rule:
l3 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0), cost: 1
New rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 38 39 40 41 42

Eliminated locations on tree-shaped paths
Start location: l7
  67: l2 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2
  68: l2 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2
  69: l2 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2
  70: l2 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0), cost: 2
  58: l4 -> l2 : executed_Drive^0'=1, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=1, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post21, (-7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 2
  59: l4 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post22, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post22, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -7+pc_Plan_next^post24 <= 0), cost: 2
  60: l4 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post23, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post23, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan_next^post24 <= 0), cost: 2
  61: l4 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=1, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post21, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 2
  62: l4 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post22, (-1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -7+pc_Plan_next^post22 <= 0), cost: 2
  63: l4 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post23, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0), cost: 2
  64: l4 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=1, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post21, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 2
  65: l4 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post22, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -3+pc_Drive^post26 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0), cost: 2
  66: l4 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post23, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post23 >= 0), cost: 2
  55: l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
  56: l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3
  57: l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3


Applied merging
first rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2
second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0), cost: 2
new rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, ((-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0)), cost: 2

Merged rules
Start location: l7
  68: l2 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2
  69: l2 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2
  71: l2 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, ((-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0)), cost: 2
  58: l4 -> l2 : executed_Drive^0'=1, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=1, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post21, (-7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 2
  59: l4 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post22, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post22, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -7+pc_Plan_next^post24 <= 0), cost: 2
  60: l4 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post23, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post23, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan_next^post24 <= 0), cost: 2
  61: l4 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=1, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post21, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 2
  62: l4 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post22, (-1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -7+pc_Plan_next^post22 <= 0), cost: 2
  63: l4 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post23, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0), cost: 2
  64: l4 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=1, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post21, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 2
  65: l4 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post22, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -3+pc_Drive^post26 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0), cost: 2
  66: l4 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post23, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post23 >= 0), cost: 2
  55: l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
  56: l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3
  57: l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3


Eliminating location l2 by chaining:

Applied chaining
First rule:
l4 -> l2 : executed_Drive^0'=1, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=1, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post21, (-7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post19, (0 == 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 3+x^0-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post19, (0 == 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 3+x^0-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4

Applied chaining
First rule:
l4 -> l2 : executed_Drive^0'=1, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=1, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post21, (-7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan^post20, (0 == 0 /\ -7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 3+x^0-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan^post20, (0 == 0 /\ -7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 3+x^0-n0^0 <= 0 /\ 1-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4

Applied chaining
First rule:
l4 -> l2 : executed_Drive^0'=1, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=1, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post21, (-7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, ((-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0)), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=3+y^0, pc_Drive^0'=4, x^0'=3+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=3+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=3+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((4+y^0-n1^0 <= 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 4+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0) \/ (0 == 0 /\ 4+y^0-n1^0 <= 0 /\ -7+pc_Plan_next^post18 <= 0 /\ 4+x^0-n0^0 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0))), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=3+y^0, pc_Drive^0'=4, x^0'=3+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=3+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=3+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((4+y^0-n1^0 <= 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 4+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0) \/ (0 == 0 /\ 4+y^0-n1^0 <= 0 /\ -7+pc_Plan_next^post18 <= 0 /\ 4+x^0-n0^0 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0))), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=3+y^0, pc_Drive^0'=4, x^0'=3+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=3+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=3+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((4+y^0-n1^0 <= 0 /\ -7+pc_Plan_next^post18 <= 0 /\ 4+x^0-n0^0 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (4+y^0-n1^0 <= 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 4+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0))), cost: 4

Applied chaining
First rule:
l4 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post22, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post22, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -7+pc_Plan_next^post24 <= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (0 == 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (0 == 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4

Applied chaining
First rule:
l4 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post22, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post22, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -7+pc_Plan_next^post24 <= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (0 == 0 /\ -7+pc_Plan^post20 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1-n1^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (0 == 0 /\ -7+pc_Plan^post20 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1-n1^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4

Applied chaining
First rule:
l4 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post22, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post22, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -7+pc_Plan_next^post24 <= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, ((-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0)), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ ((0 == 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ ((0 == 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4

Applied chaining
First rule:
l4 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post23, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post23, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan_next^post24 <= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (0 == 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (0 == 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4

Applied chaining
First rule:
l4 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post23, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post23, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan_next^post24 <= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (0 == 0 /\ -7+pc_Plan^post20 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1-n1^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (0 == 0 /\ -7+pc_Plan^post20 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1-n1^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4

Applied chaining
First rule:
l4 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post23, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post23, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan_next^post24 <= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, ((-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0)), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ ((0 == 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ ((0 == 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4

Applied chaining
First rule:
l4 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=1, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post21, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (0 == 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (0 == 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4

Applied chaining
First rule:
l4 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=1, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post21, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (0 == 0 /\ -7+pc_Plan^post20 <= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1-n1^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (0 == 0 /\ -7+pc_Plan^post20 <= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1-n1^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4

Applied chaining
First rule:
l4 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=1, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post21, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, ((-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0)), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((0 == 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((0 == 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4

Applied chaining
First rule:
l4 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post22, (-1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -7+pc_Plan_next^post22 <= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4

Applied chaining
First rule:
l4 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post22, (-1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -7+pc_Plan_next^post22 <= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4

Applied chaining
First rule:
l4 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post22, (-1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -7+pc_Plan_next^post22 <= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, ((-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0)), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0))), cost: 4

Applied chaining
First rule:
l4 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post23, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4

Applied chaining
First rule:
l4 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post23, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ is_aborted_next^post7 >= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4

Applied chaining
First rule:
l4 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post23, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, ((-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0)), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0))), cost: 4

Applied chaining
First rule:
l4 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=1, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post21, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (0 == 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (0 == 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4

Applied chaining
First rule:
l4 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=1, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post21, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (0 == 0 /\ -7+pc_Plan^post20 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-n1^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (0 == 0 /\ -7+pc_Plan^post20 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-n1^0 <= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4

Applied chaining
First rule:
l4 -> l2 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=1, pc_Loop^0'=6, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post21, is_aborted^0'=1, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post21, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, ((-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0)), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (0 == 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (0 == 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4

Applied chaining
First rule:
l4 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post22, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -3+pc_Drive^post26 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ 1+y^0-n1^0 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4

Applied chaining
First rule:
l4 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post22, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -3+pc_Drive^post26 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ 1+y^0-n1^0 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4

Applied chaining
First rule:
l4 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post22, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post22, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post22, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post22, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -3+pc_Drive^post26 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, ((-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0)), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -3+pc_Drive^post26 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0))), cost: 4

Applied chaining
First rule:
l4 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post23, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post23 >= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ 1+y^0-n1^0 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4

Applied chaining
First rule:
l4 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post23, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post23 >= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ 1+y^0-n1^0 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ is_aborted_next^post7 >= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4

Applied chaining
First rule:
l4 -> l2 : y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post23, is_aborted_next^0'=1, pc_Loop^0'=6, pc_Plan_next^0'=pc_Plan_next^post23, is_aborted^0'=1, pc_Drive_next^0'=pc_Drive_next^post23, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post23, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post23 >= 0), cost: 2
Second rule:
l2 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, ((-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0)), cost: 2
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0))), cost: 4

Applied deletion
Removed the following rules: 58 59 60 61 62 63 64 65 66 68 69 71

Eliminated locations on tree-shaped paths
Start location: l7
  72: l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4
  73: l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4
  74: l4 -> l4 : executed_Drive^0'=0, y_next^0'=3+y^0, pc_Drive^0'=4, x^0'=3+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=3+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=3+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((4+y^0-n1^0 <= 0 /\ -7+pc_Plan_next^post18 <= 0 /\ 4+x^0-n0^0 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (4+y^0-n1^0 <= 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 4+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0))), cost: 4
  75: l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
  76: l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
  77: l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4
  78: l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
  79: l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
  80: l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4
  81: l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4
  82: l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4
  83: l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4
  84: l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
  85: l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
  86: l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0))), cost: 4
  87: l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
  88: l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ is_aborted_next^post7 >= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
  89: l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0))), cost: 4
  90: l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4
  91: l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4
  92: l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4
  93: l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ 1+y^0-n1^0 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
  94: l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ 1+y^0-n1^0 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
  95: l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -3+pc_Drive^post26 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0))), cost: 4
  96: l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ 1+y^0-n1^0 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
  97: l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ 1+y^0-n1^0 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ is_aborted_next^post7 >= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
  98: l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0))), cost: 4
  55: l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
  56: l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3
  57: l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3


Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1-n0^0 <= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1-n0^0 <= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1-n0^0 <= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0))), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0))), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ is_aborted_next^post7 >= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1-n0^0 <= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0 /\ -1+pc_Plan_next^post21 >= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ 1+y^0-n1^0 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ 1+y^0-n1^0 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -3+pc_Drive^post26 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0))), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -3+pc_Drive^post26 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0))), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ 1+y^0-n1^0 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ is_aborted_next^post7 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 4

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ 1+y^0-n1^0 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ is_aborted_next^post7 >= 0 /\ 1+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 4

Simplified simple loops
Start location: l7
  74: l4 -> l4 : executed_Drive^0'=0, y_next^0'=3+y^0, pc_Drive^0'=4, x^0'=3+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=3+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=3+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((4+y^0-n1^0 <= 0 /\ -7+pc_Plan_next^post18 <= 0 /\ 4+x^0-n0^0 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (4+y^0-n1^0 <= 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 4+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0))), cost: 4
  80: l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4
  83: l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4
  89: l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0))), cost: 4
  92: l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4
  98: l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0))), cost: 4
  99: l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0), cost: 4
 100: l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0), cost: 4
 101: l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1-n0^0 <= 0), cost: 4
 102: l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0), cost: 4
 103: l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4
 104: l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1-n0^0 <= 0), cost: 4
 105: l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0), cost: 4
 106: l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1-n0^0 <= 0), cost: 4
 107: l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0), cost: 4
 108: l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 4
 109: l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 4
 110: l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0))), cost: 4
 111: l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 4
 112: l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 4
 113: l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1-n0^0 <= 0), cost: 4
 114: l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0), cost: 4
 115: l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 4
 116: l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 4
 117: l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -3+pc_Drive^post26 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0))), cost: 4
 118: l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 4
 119: l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 4
  55: l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
  56: l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3
  57: l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3


Applied deletion
Removed the following rules: 101 102 104 105 106 107 108 109 111 112 115 116

Applied acceleration
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=3+y^0, pc_Drive^0'=4, x^0'=3+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=3+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=3+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((4+y^0-n1^0 <= 0 /\ -7+pc_Plan_next^post18 <= 0 /\ 4+x^0-n0^0 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (4+y^0-n1^0 <= 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 4+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0))), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=3*n14+y^0, pc_Drive^0'=4, x^0'=3*n14+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=3*n14+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=3*n14+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+n14 >= 0 /\ 7-pc_Plan_next^post21 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ 7-pc_Plan_next^post24 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-1-3*n14-y^0+n1^0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ -1-3*n14-x^0+n0^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (-1-3*n14-y^0+n1^0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-3*n14-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n14

Applied acceleration
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2*n16+y^0, pc_Drive^0'=4, x^0'=x^0+2*n16, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2*n16+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n16, pc_Plan^0'=pc_Plan_next^post18, (7-pc_Plan_next^post23 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 3-pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -1+n16 >= 0 /\ 7-pc_Plan_next^post24 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -1-x^0-2*n16+n0^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1-2*n16-y^0+n1^0 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0) \/ (7-pc_Plan_next^post18 >= 0 /\ -1-x^0-2*n16+n0^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n16-y^0+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n16

Applied acceleration
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n18, pc_Drive^0'=4, x^0'=x^0+2*n18, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n18, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n18, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ 7-pc_Drive_next^post25 >= 0 /\ 7-pc_Plan_next^post21 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 7-pc_Plan_next^post25 >= 0 /\ -1+n18 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-x^0+n0^0-2*n18 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ -1-y^0+n1^0-2*n18 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0) \/ (7-pc_Plan_next^post18 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ -1-x^0+n0^0-2*n18 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-y^0+n1^0-2*n18 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n18

Applied acceleration
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0))), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=n20+y^0, pc_Drive^0'=4, x^0'=x^0+n20, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=n20+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+n20, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ 7-pc_Plan_next^post23 >= 0 /\ 7-pc_Drive_next^post25 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 7-pc_Plan_next^post25 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+n20 >= 0 /\ 3-pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-n20-y^0+n1^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ -1-x^0-n20+n0^0 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0) \/ (7-pc_Plan_next^post18 >= 0 /\ 1-executed_Drive^0 >= 0 /\ -1-n20-y^0+n1^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-x^0-n20+n0^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0 /\ FALSE))), cost: 4*n20

Applied instantiation
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=n20+y^0, pc_Drive^0'=4, x^0'=x^0+n20, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=n20+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+n20, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ 7-pc_Plan_next^post23 >= 0 /\ 7-pc_Drive_next^post25 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 7-pc_Plan_next^post25 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+n20 >= 0 /\ 3-pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-n20-y^0+n1^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ -1-x^0-n20+n0^0 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0) \/ (7-pc_Plan_next^post18 >= 0 /\ 1-executed_Drive^0 >= 0 /\ -1-n20-y^0+n1^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-x^0-n20+n0^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0 /\ FALSE))), cost: 4*n20
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ 7-pc_Plan_next^post23 >= 0 /\ 7-pc_Drive_next^post25 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 7-pc_Plan_next^post25 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -2-y^0+n1^0 >= 0 /\ 3-pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ ((0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0) \/ (0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ 1-executed_Drive^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0 /\ FALSE))), cost: -4-4*y^0+4*n1^0

Applied instantiation
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=n20+y^0, pc_Drive^0'=4, x^0'=x^0+n20, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=n20+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+n20, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ 7-pc_Plan_next^post23 >= 0 /\ 7-pc_Drive_next^post25 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 7-pc_Plan_next^post25 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+n20 >= 0 /\ 3-pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-n20-y^0+n1^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ -1-x^0-n20+n0^0 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0) \/ (7-pc_Plan_next^post18 >= 0 /\ 1-executed_Drive^0 >= 0 /\ -1-n20-y^0+n1^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-x^0-n20+n0^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0 /\ FALSE))), cost: 4*n20
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ 7-pc_Plan_next^post23 >= 0 /\ 7-pc_Drive_next^post25 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -2-x^0+n0^0 >= 0 /\ 7-pc_Plan_next^post25 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 3-pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ ((0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0) \/ (0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ 1-executed_Drive^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0 /\ FALSE))), cost: -4-4*x^0+4*n0^0

Applied acceleration
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n23, pc_Drive^0'=4, x^0'=x^0+2*n23, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n23, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n23, pc_Plan^0'=pc_Plan_next^post18, (7-pc_Plan_next^post26 >= 0 /\ 7-pc_Plan_next^post21 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+n23 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 3-pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-y^0-2*n23+n1^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1-x^0-2*n23+n0^0 >= 0 /\ -1+n0^0 >= 0) \/ (7-pc_Plan_next^post18 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ -1-y^0-2*n23+n1^0 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-x^0-2*n23+n0^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n23

Applied acceleration
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0))), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=n25+y^0, pc_Drive^0'=4, x^0'=n25+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=n25+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=n25+x^0, pc_Plan^0'=pc_Plan_next^post18, (7-pc_Plan_next^post26 >= 0 /\ 7-pc_Plan_next^post23 >= 0 /\ -1+n25 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 3-pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ 3-pc_Drive^post26 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -1-n25-y^0+n1^0 >= 0 /\ 1-executed_Drive^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ -1-n25-x^0+n0^0 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0 /\ FALSE) \/ (7-pc_Plan_next^post18 >= 0 /\ -1-n25-y^0+n1^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-n25-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n25

Applied instantiation
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=n25+y^0, pc_Drive^0'=4, x^0'=n25+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=n25+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=n25+x^0, pc_Plan^0'=pc_Plan_next^post18, (7-pc_Plan_next^post26 >= 0 /\ 7-pc_Plan_next^post23 >= 0 /\ -1+n25 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 3-pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ 3-pc_Drive^post26 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -1-n25-y^0+n1^0 >= 0 /\ 1-executed_Drive^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ -1-n25-x^0+n0^0 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0 /\ FALSE) \/ (7-pc_Plan_next^post18 >= 0 /\ -1-n25-y^0+n1^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-n25-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n25
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (7-pc_Plan_next^post26 >= 0 /\ 7-pc_Plan_next^post23 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -2-y^0+n1^0 >= 0 /\ 3-pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ 3-pc_Drive^post26 >= 0 /\ ((0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ 1-executed_Drive^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0 /\ FALSE) \/ (0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0))), cost: -4-4*y^0+4*n1^0

Applied instantiation
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=n25+y^0, pc_Drive^0'=4, x^0'=n25+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=n25+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=n25+x^0, pc_Plan^0'=pc_Plan_next^post18, (7-pc_Plan_next^post26 >= 0 /\ 7-pc_Plan_next^post23 >= 0 /\ -1+n25 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 3-pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ 3-pc_Drive^post26 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -1-n25-y^0+n1^0 >= 0 /\ 1-executed_Drive^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ -1-n25-x^0+n0^0 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0 /\ FALSE) \/ (7-pc_Plan_next^post18 >= 0 /\ -1-n25-y^0+n1^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-n25-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n25
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (7-pc_Plan_next^post26 >= 0 /\ 7-pc_Plan_next^post23 >= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 3-pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ 3-pc_Drive^post26 >= 0 /\ ((0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ 1-executed_Drive^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0 /\ FALSE) \/ (0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0))), cost: -4-4*x^0+4*n0^0

Applied acceleration
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n28, pc_Drive^0'=pc_Drive_next^post19, x^0'=x^0+2*n28, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n28, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0+2*n28, pc_Plan^0'=pc_Plan_next^post19, (-1-y^0+n1^0-2*n28 >= 0 /\ -1-x^0-2*n28+n0^0 >= 0 /\ 7-pc_Plan_next^post19 >= 0 /\ -1+n28 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 7-pc_Drive_next^post19 >= 0 /\ -1+n0^0 >= 0), cost: 4*n28

Applied acceleration
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n30, pc_Drive^0'=pc_Drive_next^post20, x^0'=x^0+2*n30, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n30, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0+2*n30, pc_Plan^0'=pc_Plan^post20, (7-pc_Plan^post20 >= 0 /\ -1-x^0+n0^0-2*n30 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n30 >= 0 /\ -1+n1^0 >= 0 /\ -1-y^0+n1^0-2*n30 >= 0 /\ 3-pc_Drive_next^post20 >= 0 /\ -1+n0^0 >= 0), cost: 4*n30

Applied acceleration
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2+y^0, pc_Drive^0'=4, x^0'=2+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=2+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ 3+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 3+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0))), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2*n32+y^0, pc_Drive^0'=4, x^0'=x^0+2*n32, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2*n32+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n32, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ 7-pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ 7-pc_Plan_next^post22 >= 0 /\ 7-pc_Plan_next^post24 >= 0 /\ -1+n32 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -1-2*n32-y^0+n1^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ -1-x^0-2*n32+n0^0 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (7-pc_Plan_next^post18 >= 0 /\ -1-2*n32-y^0+n1^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-x^0-2*n32+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n32

Applied acceleration
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0))), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=n34+y^0, pc_Drive^0'=4, x^0'=n34+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=n34+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=n34+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+n34 >= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ 7-pc_Drive_next^post22 >= 0 /\ 7-pc_Drive_next^post25 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 7-pc_Plan_next^post25 >= 0 /\ 7-pc_Plan_next^post22 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -1-n34-x^0+n0^0 >= 0 /\ 1-executed_Drive^0 >= 0 /\ -1-n34-y^0+n1^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0 /\ FALSE) \/ (7-pc_Plan_next^post18 >= 0 /\ -1-n34-x^0+n0^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-n34-y^0+n1^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n34

Applied instantiation
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=n34+y^0, pc_Drive^0'=4, x^0'=n34+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=n34+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=n34+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+n34 >= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ 7-pc_Drive_next^post22 >= 0 /\ 7-pc_Drive_next^post25 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 7-pc_Plan_next^post25 >= 0 /\ 7-pc_Plan_next^post22 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -1-n34-x^0+n0^0 >= 0 /\ 1-executed_Drive^0 >= 0 /\ -1-n34-y^0+n1^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0 /\ FALSE) \/ (7-pc_Plan_next^post18 >= 0 /\ -1-n34-x^0+n0^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-n34-y^0+n1^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n34
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ 7-pc_Drive_next^post22 >= 0 /\ 7-pc_Drive_next^post25 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 7-pc_Plan_next^post25 >= 0 /\ 7-pc_Plan_next^post22 >= 0 /\ -2-y^0+n1^0 >= 0 /\ ((0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ 1-executed_Drive^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0 /\ FALSE) \/ (0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0))), cost: -4-4*y^0+4*n1^0

Applied instantiation
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=n34+y^0, pc_Drive^0'=4, x^0'=n34+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=n34+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=n34+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+n34 >= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ 7-pc_Drive_next^post22 >= 0 /\ 7-pc_Drive_next^post25 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 7-pc_Plan_next^post25 >= 0 /\ 7-pc_Plan_next^post22 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -1-n34-x^0+n0^0 >= 0 /\ 1-executed_Drive^0 >= 0 /\ -1-n34-y^0+n1^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0 /\ FALSE) \/ (7-pc_Plan_next^post18 >= 0 /\ -1-n34-x^0+n0^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-n34-y^0+n1^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n34
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ 7-pc_Drive_next^post22 >= 0 /\ 7-pc_Drive_next^post25 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -2-x^0+n0^0 >= 0 /\ 7-pc_Plan_next^post25 >= 0 /\ 7-pc_Plan_next^post22 >= 0 /\ ((0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ 1-executed_Drive^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0 /\ FALSE) \/ (0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0))), cost: -4-4*x^0+4*n0^0

Applied acceleration
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1-n0^0 <= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=n37+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=x^0+n37, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=n37+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0+n37, pc_Plan^0'=pc_Plan_next^post19, (7-pc_Plan_next^post19 >= 0 /\ -1-x^0-n37+n0^0 >= 0 /\ -1-n37-y^0+n1^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 7-pc_Drive_next^post19 >= 0 /\ -1+n37 >= 0 /\ -1+n0^0 >= 0), cost: 4*n37

Applied instantiation
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=n37+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=x^0+n37, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=n37+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0+n37, pc_Plan^0'=pc_Plan_next^post19, (7-pc_Plan_next^post19 >= 0 /\ -1-x^0-n37+n0^0 >= 0 /\ -1-n37-y^0+n1^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 7-pc_Drive_next^post19 >= 0 /\ -1+n37 >= 0 /\ -1+n0^0 >= 0), cost: 4*n37
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post19, (0 >= 0 /\ 7-pc_Plan_next^post19 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -2-y^0+n1^0 >= 0 /\ 7-pc_Drive_next^post19 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0

Applied instantiation
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=n37+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=x^0+n37, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=n37+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0+n37, pc_Plan^0'=pc_Plan_next^post19, (7-pc_Plan_next^post19 >= 0 /\ -1-x^0-n37+n0^0 >= 0 /\ -1-n37-y^0+n1^0 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 7-pc_Drive_next^post19 >= 0 /\ -1+n37 >= 0 /\ -1+n0^0 >= 0), cost: 4*n37
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post19, (0 >= 0 /\ 7-pc_Plan_next^post19 >= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 7-pc_Drive_next^post19 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0

Applied acceleration
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+n40, pc_Drive^0'=pc_Drive_next^post20, x^0'=x^0+n40, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+n40, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0+n40, pc_Plan^0'=pc_Plan^post20, (7-pc_Plan^post20 >= 0 /\ -1-y^0+n1^0-n40 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n40 >= 0 /\ -1-x^0+n0^0-n40 >= 0 /\ -1+n1^0 >= 0 /\ 3-pc_Drive_next^post20 >= 0 /\ -1+n0^0 >= 0), cost: 4*n40

Applied instantiation
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+n40, pc_Drive^0'=pc_Drive_next^post20, x^0'=x^0+n40, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+n40, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0+n40, pc_Plan^0'=pc_Plan^post20, (7-pc_Plan^post20 >= 0 /\ -1-y^0+n1^0-n40 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n40 >= 0 /\ -1-x^0+n0^0-n40 >= 0 /\ -1+n1^0 >= 0 /\ 3-pc_Drive_next^post20 >= 0 /\ -1+n0^0 >= 0), cost: 4*n40
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan^post20, (0 >= 0 /\ 7-pc_Plan^post20 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ 3-pc_Drive_next^post20 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0

Applied instantiation
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+n40, pc_Drive^0'=pc_Drive_next^post20, x^0'=x^0+n40, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+n40, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0+n40, pc_Plan^0'=pc_Plan^post20, (7-pc_Plan^post20 >= 0 /\ -1-y^0+n1^0-n40 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n40 >= 0 /\ -1-x^0+n0^0-n40 >= 0 /\ -1+n1^0 >= 0 /\ 3-pc_Drive_next^post20 >= 0 /\ -1+n0^0 >= 0), cost: 4*n40
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan^post20, (0 >= 0 /\ 7-pc_Plan^post20 >= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ 3-pc_Drive_next^post20 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0

Applied acceleration
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -3+pc_Drive^post26 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+executed_Drive^0 == 0 /\ -7+pc_Plan_next^post7 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ 1-n0^0 <= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ 1-n0^0 <= 0))), cost: 4
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+n43, pc_Drive^0'=4, x^0'=x^0+n43, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+n43, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+n43, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ 7-pc_Plan_next^post26 >= 0 /\ 7-pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 7-pc_Plan_next^post22 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n43 >= 0 /\ 3-pc_Drive^post26 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -1-x^0-n43+n0^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-y^0-n43+n1^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0) \/ (7-pc_Plan_next^post18 >= 0 /\ -1-x^0-n43+n0^0 >= 0 /\ 1-executed_Drive^0 >= 0 /\ -1-y^0-n43+n1^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0 /\ FALSE))), cost: 4*n43

Applied instantiation
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+n43, pc_Drive^0'=4, x^0'=x^0+n43, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+n43, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+n43, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ 7-pc_Plan_next^post26 >= 0 /\ 7-pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 7-pc_Plan_next^post22 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n43 >= 0 /\ 3-pc_Drive^post26 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -1-x^0-n43+n0^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-y^0-n43+n1^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0) \/ (7-pc_Plan_next^post18 >= 0 /\ -1-x^0-n43+n0^0 >= 0 /\ 1-executed_Drive^0 >= 0 /\ -1-y^0-n43+n1^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0 /\ FALSE))), cost: 4*n43
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ 7-pc_Plan_next^post26 >= 0 /\ 7-pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 7-pc_Plan_next^post22 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -2-y^0+n1^0 >= 0 /\ 3-pc_Drive^post26 >= 0 /\ ((0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ 1-executed_Drive^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0 /\ FALSE) \/ (0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0))), cost: -4-4*y^0+4*n1^0

Applied instantiation
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+n43, pc_Drive^0'=4, x^0'=x^0+n43, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+n43, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+n43, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ 7-pc_Plan_next^post26 >= 0 /\ 7-pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 7-pc_Plan_next^post22 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n43 >= 0 /\ 3-pc_Drive^post26 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -1-x^0-n43+n0^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-y^0-n43+n1^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0) \/ (7-pc_Plan_next^post18 >= 0 /\ -1-x^0-n43+n0^0 >= 0 /\ 1-executed_Drive^0 >= 0 /\ -1-y^0-n43+n1^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0 /\ FALSE))), cost: 4*n43
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ 7-pc_Plan_next^post26 >= 0 /\ 7-pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -2-x^0+n0^0 >= 0 /\ 7-pc_Plan_next^post22 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 3-pc_Drive^post26 >= 0 /\ ((0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0) \/ (0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ 1-executed_Drive^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0 /\ FALSE))), cost: -4-4*x^0+4*n0^0

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=3*n14+y^0, pc_Drive^0'=4, x^0'=3*n14+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=3*n14+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=3*n14+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+n14 >= 0 /\ 7-pc_Plan_next^post21 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ 7-pc_Plan_next^post24 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-1-3*n14-y^0+n1^0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ -1-3*n14-x^0+n0^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (-1-3*n14-y^0+n1^0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-3*n14-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n14
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=3*n14+y^0, pc_Drive^0'=4, x^0'=3*n14+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=3*n14+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=3*n14+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+n14 >= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-1-3*n14-y^0+n1^0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-3*n14-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0) \/ (-1-3*n14-y^0+n1^0 >= 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -1-3*n14-x^0+n0^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n14

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2*n16+y^0, pc_Drive^0'=4, x^0'=x^0+2*n16, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2*n16+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n16, pc_Plan^0'=pc_Plan_next^post18, (7-pc_Plan_next^post23 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 3-pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -1+n16 >= 0 /\ 7-pc_Plan_next^post24 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -1-x^0-2*n16+n0^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1-2*n16-y^0+n1^0 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0) \/ (7-pc_Plan_next^post18 >= 0 /\ -1-x^0-2*n16+n0^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n16-y^0+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n16
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2*n16+y^0, pc_Drive^0'=4, x^0'=x^0+2*n16, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2*n16+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n16, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -1+n16 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1-x^0-2*n16+n0^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1-2*n16-y^0+n1^0 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0) \/ (7-pc_Plan_next^post18 >= 0 /\ -1-x^0-2*n16+n0^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n16-y^0+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n16

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n18, pc_Drive^0'=4, x^0'=x^0+2*n18, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n18, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n18, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ 7-pc_Drive_next^post25 >= 0 /\ 7-pc_Plan_next^post21 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 7-pc_Plan_next^post25 >= 0 /\ -1+n18 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-x^0+n0^0-2*n18 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ -1-y^0+n1^0-2*n18 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0) \/ (7-pc_Plan_next^post18 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ -1-x^0+n0^0-2*n18 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-y^0+n1^0-2*n18 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n18
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n18, pc_Drive^0'=4, x^0'=x^0+2*n18, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n18, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n18, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+n18 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-x^0+n0^0-2*n18 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-y^0+n1^0-2*n18 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-x^0+n0^0-2*n18 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -1-y^0+n1^0-2*n18 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0))), cost: 4*n18

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ 7-pc_Plan_next^post23 >= 0 /\ 7-pc_Drive_next^post25 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 7-pc_Plan_next^post25 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -2-y^0+n1^0 >= 0 /\ 3-pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ ((0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0) \/ (0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ 1-executed_Drive^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0 /\ FALSE))), cost: -4-4*y^0+4*n1^0
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -2-y^0+n1^0 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ 7-pc_Plan_next^post23 >= 0 /\ 7-pc_Drive_next^post25 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -2-x^0+n0^0 >= 0 /\ 7-pc_Plan_next^post25 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ 3-pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ ((0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0) \/ (0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ 1-executed_Drive^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0 /\ FALSE))), cost: -4-4*x^0+4*n0^0
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -2-x^0+n0^0 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n23, pc_Drive^0'=4, x^0'=x^0+2*n23, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n23, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n23, pc_Plan^0'=pc_Plan_next^post18, (7-pc_Plan_next^post26 >= 0 /\ 7-pc_Plan_next^post21 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+n23 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 3-pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-y^0-2*n23+n1^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1-x^0-2*n23+n0^0 >= 0 /\ -1+n0^0 >= 0) \/ (7-pc_Plan_next^post18 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ -1-y^0-2*n23+n1^0 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-x^0-2*n23+n0^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n23
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n23, pc_Drive^0'=4, x^0'=x^0+2*n23, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n23, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n23, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+n23 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-y^0-2*n23+n1^0 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-x^0-2*n23+n0^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-y^0-2*n23+n1^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1-x^0-2*n23+n0^0 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n23

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (7-pc_Plan_next^post26 >= 0 /\ 7-pc_Plan_next^post23 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -2-y^0+n1^0 >= 0 /\ 3-pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ 3-pc_Drive^post26 >= 0 /\ ((0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ 1-executed_Drive^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0 /\ FALSE) \/ (0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0))), cost: -4-4*y^0+4*n1^0
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -2-y^0+n1^0 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (7-pc_Plan_next^post26 >= 0 /\ 7-pc_Plan_next^post23 >= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 3-pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ 3-pc_Drive^post26 >= 0 /\ ((0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ 1-executed_Drive^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0 /\ FALSE) \/ (0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0))), cost: -4-4*x^0+4*n0^0
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n28, pc_Drive^0'=pc_Drive_next^post19, x^0'=x^0+2*n28, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n28, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0+2*n28, pc_Plan^0'=pc_Plan_next^post19, (-1-y^0+n1^0-2*n28 >= 0 /\ -1-x^0-2*n28+n0^0 >= 0 /\ 7-pc_Plan_next^post19 >= 0 /\ -1+n28 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 7-pc_Drive_next^post19 >= 0 /\ -1+n0^0 >= 0), cost: 4*n28
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n28, pc_Drive^0'=pc_Drive_next^post19, x^0'=x^0+2*n28, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n28, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0+2*n28, pc_Plan^0'=pc_Plan_next^post19, (-1-y^0+n1^0-2*n28 >= 0 /\ -1-x^0-2*n28+n0^0 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -1+n28 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+n0^0 >= 0), cost: 4*n28

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n30, pc_Drive^0'=pc_Drive_next^post20, x^0'=x^0+2*n30, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n30, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0+2*n30, pc_Plan^0'=pc_Plan^post20, (7-pc_Plan^post20 >= 0 /\ -1-x^0+n0^0-2*n30 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n30 >= 0 /\ -1+n1^0 >= 0 /\ -1-y^0+n1^0-2*n30 >= 0 /\ 3-pc_Drive_next^post20 >= 0 /\ -1+n0^0 >= 0), cost: 4*n30
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n30, pc_Drive^0'=pc_Drive_next^post20, x^0'=x^0+2*n30, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n30, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0+2*n30, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1-x^0+n0^0-2*n30 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n30 >= 0 /\ -1+n1^0 >= 0 /\ -1-y^0+n1^0-2*n30 >= 0 /\ -1+n0^0 >= 0), cost: 4*n30

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2*n32+y^0, pc_Drive^0'=4, x^0'=x^0+2*n32, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2*n32+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n32, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ 7-pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ 7-pc_Plan_next^post22 >= 0 /\ 7-pc_Plan_next^post24 >= 0 /\ -1+n32 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -1-2*n32-y^0+n1^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ -1-x^0-2*n32+n0^0 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (7-pc_Plan_next^post18 >= 0 /\ -1-2*n32-y^0+n1^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-x^0-2*n32+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n32
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2*n32+y^0, pc_Drive^0'=4, x^0'=x^0+2*n32, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2*n32+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n32, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+n32 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -1-2*n32-y^0+n1^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-x^0-2*n32+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1-2*n32-y^0+n1^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-x^0-2*n32+n0^0 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n32

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ 7-pc_Drive_next^post22 >= 0 /\ 7-pc_Drive_next^post25 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ 7-pc_Plan_next^post25 >= 0 /\ 7-pc_Plan_next^post22 >= 0 /\ -2-y^0+n1^0 >= 0 /\ ((0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ 1-executed_Drive^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0 /\ FALSE) \/ (0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0))), cost: -4-4*y^0+4*n1^0
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -2-y^0+n1^0 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ 7-pc_Drive_next^post22 >= 0 /\ 7-pc_Drive_next^post25 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -2-x^0+n0^0 >= 0 /\ 7-pc_Plan_next^post25 >= 0 /\ 7-pc_Plan_next^post22 >= 0 /\ ((0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ 1-executed_Drive^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0 /\ FALSE) \/ (0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0))), cost: -4-4*x^0+4*n0^0
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -2-x^0+n0^0 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post19, (0 >= 0 /\ 7-pc_Plan_next^post19 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -2-y^0+n1^0 >= 0 /\ 7-pc_Drive_next^post19 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post19, (0 >= 0 /\ 7-pc_Plan_next^post19 >= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 7-pc_Drive_next^post19 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan^post20, (0 >= 0 /\ 7-pc_Plan^post20 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ 3-pc_Drive_next^post20 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan^post20, (0 >= 0 /\ 7-pc_Plan^post20 >= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ 3-pc_Drive_next^post20 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ 7-pc_Plan_next^post26 >= 0 /\ 7-pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ 7-pc_Plan_next^post22 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -2-y^0+n1^0 >= 0 /\ 3-pc_Drive^post26 >= 0 /\ ((0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ 1-executed_Drive^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0 /\ FALSE) \/ (0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0))), cost: -4-4*y^0+4*n1^0
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -3+pc_Drive^post26 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -2-y^0+n1^0 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0

Applied simplification
Original rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ 7-pc_Plan_next^post26 >= 0 /\ 7-pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -2-x^0+n0^0 >= 0 /\ 7-pc_Plan_next^post22 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ 3-pc_Drive^post26 >= 0 /\ ((0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ 1-is_aborted^post11 >= 0 /\ 7-pc_Plan^post11 >= 0 /\ -1+n0^0 >= 0) \/ (0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ 1-executed_Drive^0 >= 0 /\ 7-pc_Plan_next^post7 >= 0 /\ 1-is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0 /\ FALSE))), cost: -4-4*x^0+4*n0^0
New rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -3+pc_Drive^post26 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0

Applied deletion
Removed the following rules: 74 80 83 89 92 98 99 100 103 110 113 114 117

Accelerated simple loops
Start location: l7
 118: l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 4
 119: l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 4
 139: l4 -> l4 : executed_Drive^0'=0, y_next^0'=3*n14+y^0, pc_Drive^0'=4, x^0'=3*n14+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=3*n14+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=3*n14+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+n14 >= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-1-3*n14-y^0+n1^0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-3*n14-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0) \/ (-1-3*n14-y^0+n1^0 >= 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -1-3*n14-x^0+n0^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n14
 140: l4 -> l4 : executed_Drive^0'=0, y_next^0'=2*n16+y^0, pc_Drive^0'=4, x^0'=x^0+2*n16, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2*n16+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n16, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -1+n16 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1-x^0-2*n16+n0^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1-2*n16-y^0+n1^0 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0) \/ (7-pc_Plan_next^post18 >= 0 /\ -1-x^0-2*n16+n0^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n16-y^0+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n16
 141: l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n18, pc_Drive^0'=4, x^0'=x^0+2*n18, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n18, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n18, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+n18 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-x^0+n0^0-2*n18 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-y^0+n1^0-2*n18 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-x^0+n0^0-2*n18 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -1-y^0+n1^0-2*n18 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0))), cost: 4*n18
 142: l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -2-y^0+n1^0 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
 143: l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -2-x^0+n0^0 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
 144: l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n23, pc_Drive^0'=4, x^0'=x^0+2*n23, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n23, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n23, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+n23 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-y^0-2*n23+n1^0 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-x^0-2*n23+n0^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-y^0-2*n23+n1^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1-x^0-2*n23+n0^0 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n23
 145: l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -2-y^0+n1^0 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
 146: l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
 147: l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n28, pc_Drive^0'=pc_Drive_next^post19, x^0'=x^0+2*n28, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n28, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0+2*n28, pc_Plan^0'=pc_Plan_next^post19, (-1-y^0+n1^0-2*n28 >= 0 /\ -1-x^0-2*n28+n0^0 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -1+n28 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+n0^0 >= 0), cost: 4*n28
 148: l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n30, pc_Drive^0'=pc_Drive_next^post20, x^0'=x^0+2*n30, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n30, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0+2*n30, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1-x^0+n0^0-2*n30 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n30 >= 0 /\ -1+n1^0 >= 0 /\ -1-y^0+n1^0-2*n30 >= 0 /\ -1+n0^0 >= 0), cost: 4*n30
 149: l4 -> l4 : executed_Drive^0'=0, y_next^0'=2*n32+y^0, pc_Drive^0'=4, x^0'=x^0+2*n32, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2*n32+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n32, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+n32 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -1-2*n32-y^0+n1^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-x^0-2*n32+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1-2*n32-y^0+n1^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-x^0-2*n32+n0^0 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n32
 150: l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -2-y^0+n1^0 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
 151: l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -2-x^0+n0^0 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
 152: l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
 153: l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
 154: l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
 155: l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
 156: l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -3+pc_Drive^post26 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -2-y^0+n1^0 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
 157: l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -3+pc_Drive^post26 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
  55: l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
  56: l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3
  57: l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3


Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post19, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+executed_Drive^0 == 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 4
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1-n0^0 <= 0), cost: 7

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post20, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -1+executed_Drive^0 == 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ 1+y^0-n1^0 <= 0 /\ 1-n1^0 <= 0 /\ 1+x^0-n0^0 <= 0 /\ 1-n0^0 <= 0), cost: 4
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0), cost: 7

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=3*n14+y^0, pc_Drive^0'=4, x^0'=3*n14+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=3*n14+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=3*n14+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+n14 >= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-1-3*n14-y^0+n1^0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-3*n14-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0) \/ (-1-3*n14-y^0+n1^0 >= 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -1-3*n14-x^0+n0^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n14
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=1+3*n14+y^0, pc_Drive^0'=4, x^0'=1+3*n14+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+3*n14+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+3*n14+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+n14 >= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -2-3*n14-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -2-3*n14-y^0+n1^0 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -2-3*n14-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -2-3*n14-y^0+n1^0 >= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n14

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=3*n14+y^0, pc_Drive^0'=4, x^0'=3*n14+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=3*n14+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=3*n14+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+n14 >= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-1-3*n14-y^0+n1^0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-3*n14-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0) \/ (-1-3*n14-y^0+n1^0 >= 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -1-3*n14-x^0+n0^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n14
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=3*n14+y^0, pc_Drive^0'=4, x^0'=3*n14+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=3*n14+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=3*n14+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+n14 >= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-1-3*n14-y^0+n1^0 >= 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-3*n14-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0) \/ (-1-3*n14-y^0+n1^0 >= 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -1-3*n14-x^0+n0^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n14

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=3*n14+y^0, pc_Drive^0'=4, x^0'=3*n14+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=3*n14+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=3*n14+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+n14 >= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-1-3*n14-y^0+n1^0 >= 0 /\ 7-pc_Plan_next^post18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-3*n14-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0) \/ (-1-3*n14-y^0+n1^0 >= 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -1-3*n14-x^0+n0^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n14
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=3*n14+y^0, pc_Drive^0'=4, x^0'=3*n14+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=3*n14+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=3*n14+x^0, pc_Plan^0'=pc_Plan_next^post18, (-3+pc_Drive_next^post32 <= 0 /\ -1+n14 >= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+pc_Drive_next^post32 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-1-3*n14-y^0+n1^0 >= 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-3*n14-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0) \/ (-1-3*n14-y^0+n1^0 >= 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -1-3*n14-x^0+n0^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n14

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2*n16+y^0, pc_Drive^0'=4, x^0'=x^0+2*n16, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2*n16+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n16, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -1+n16 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1-x^0-2*n16+n0^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1-2*n16-y^0+n1^0 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0) \/ (7-pc_Plan_next^post18 >= 0 /\ -1-x^0-2*n16+n0^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n16-y^0+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n16
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=1+2*n16+y^0, pc_Drive^0'=4, x^0'=1+x^0+2*n16, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+2*n16+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0+2*n16, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -1+n16 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -2-2*n16-y^0+n1^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -2-x^0-2*n16+n0^0 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -2-2*n16-y^0+n1^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -2-x^0-2*n16+n0^0 >= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n16

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2*n16+y^0, pc_Drive^0'=4, x^0'=x^0+2*n16, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2*n16+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n16, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -1+n16 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1-x^0-2*n16+n0^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1-2*n16-y^0+n1^0 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0) \/ (7-pc_Plan_next^post18 >= 0 /\ -1-x^0-2*n16+n0^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n16-y^0+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n16
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=2*n16+y^0, pc_Drive^0'=4, x^0'=x^0+2*n16, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2*n16+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n16, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -5+pc_Drive_next^post31 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -7+pc_Drive_next^post31 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -1+n16 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1-x^0-2*n16+n0^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n16-y^0+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1-x^0-2*n16+n0^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1-2*n16-y^0+n1^0 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n16

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2*n16+y^0, pc_Drive^0'=4, x^0'=x^0+2*n16, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2*n16+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n16, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -1+n16 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1-x^0-2*n16+n0^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1-2*n16-y^0+n1^0 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0) \/ (7-pc_Plan_next^post18 >= 0 /\ -1-x^0-2*n16+n0^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n16-y^0+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n16
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=2*n16+y^0, pc_Drive^0'=4, x^0'=x^0+2*n16, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2*n16+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n16, pc_Plan^0'=pc_Plan_next^post18, (-3+pc_Drive_next^post32 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -1+n16 >= 0 /\ -1+pc_Drive_next^post32 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1-x^0-2*n16+n0^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1-2*n16-y^0+n1^0 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1-x^0-2*n16+n0^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n16-y^0+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n16

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n18, pc_Drive^0'=4, x^0'=x^0+2*n18, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n18, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n18, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+n18 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-x^0+n0^0-2*n18 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-y^0+n1^0-2*n18 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-x^0+n0^0-2*n18 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -1-y^0+n1^0-2*n18 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0))), cost: 4*n18
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0+2*n18, pc_Drive^0'=4, x^0'=1+x^0+2*n18, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0+2*n18, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0+2*n18, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+n18 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -2-y^0+n1^0-2*n18 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -2-x^0+n0^0-2*n18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -2-y^0+n1^0-2*n18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -2-x^0+n0^0-2*n18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n18

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n18, pc_Drive^0'=4, x^0'=x^0+2*n18, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n18, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n18, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+n18 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-x^0+n0^0-2*n18 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-y^0+n1^0-2*n18 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-x^0+n0^0-2*n18 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -1-y^0+n1^0-2*n18 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0))), cost: 4*n18
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n18, pc_Drive^0'=4, x^0'=x^0+2*n18, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n18, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n18, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -5+pc_Drive_next^post31 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+n18 >= 0 /\ -7+pc_Drive_next^post31 <= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-x^0+n0^0-2*n18 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-y^0+n1^0-2*n18 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-x^0+n0^0-2*n18 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -1-y^0+n1^0-2*n18 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n18

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n18, pc_Drive^0'=4, x^0'=x^0+2*n18, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n18, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n18, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+n18 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-x^0+n0^0-2*n18 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-y^0+n1^0-2*n18 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-x^0+n0^0-2*n18 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -1-y^0+n1^0-2*n18 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0))), cost: 4*n18
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n18, pc_Drive^0'=4, x^0'=x^0+2*n18, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n18, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n18, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ -3+pc_Drive_next^post32 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+n18 >= 0 /\ -1+pc_Drive_next^post32 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-x^0+n0^0-2*n18 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -1-y^0+n1^0-2*n18 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-x^0+n0^0-2*n18 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-y^0+n1^0-2*n18 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n18

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -2-y^0+n1^0 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -3-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -5-4*y^0+4*n1^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -2-y^0+n1^0 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*y^0+4*n1^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -2-y^0+n1^0 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*y^0+4*n1^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -2-x^0+n0^0 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -3-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -5-4*x^0+4*n0^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -2-x^0+n0^0 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*x^0+4*n0^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -2-x^0+n0^0 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*x^0+4*n0^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n23, pc_Drive^0'=4, x^0'=x^0+2*n23, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n23, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n23, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+n23 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-y^0-2*n23+n1^0 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-x^0-2*n23+n0^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-y^0-2*n23+n1^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1-x^0-2*n23+n0^0 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n23
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0+2*n23, pc_Drive^0'=4, x^0'=1+x^0+2*n23, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0+2*n23, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0+2*n23, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+n23 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -2-x^0-2*n23+n0^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -2-y^0-2*n23+n1^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -2-x^0-2*n23+n0^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -2-y^0-2*n23+n1^0 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n23

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n23, pc_Drive^0'=4, x^0'=x^0+2*n23, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n23, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n23, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+n23 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-y^0-2*n23+n1^0 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-x^0-2*n23+n0^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-y^0-2*n23+n1^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1-x^0-2*n23+n0^0 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n23
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n23, pc_Drive^0'=4, x^0'=x^0+2*n23, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n23, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n23, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -5+pc_Drive_next^post31 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+n23 >= 0 /\ -7+pc_Drive_next^post31 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-y^0-2*n23+n1^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1-x^0-2*n23+n0^0 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-y^0-2*n23+n1^0 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-x^0-2*n23+n0^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n23

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n23, pc_Drive^0'=4, x^0'=x^0+2*n23, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n23, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n23, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+n23 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-y^0-2*n23+n1^0 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-x^0-2*n23+n0^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-y^0-2*n23+n1^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1-x^0-2*n23+n0^0 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n23
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n23, pc_Drive^0'=4, x^0'=x^0+2*n23, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n23, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n23, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post26 <= 0 /\ -3+pc_Drive_next^post32 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+n23 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post32 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-y^0-2*n23+n1^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1-x^0-2*n23+n0^0 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-y^0-2*n23+n1^0 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-x^0-2*n23+n0^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n23

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -2-y^0+n1^0 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -3-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -5-4*y^0+4*n1^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -2-y^0+n1^0 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*y^0+4*n1^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -2-y^0+n1^0 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*y^0+4*n1^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -3-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -5-4*x^0+4*n0^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*x^0+4*n0^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*x^0+4*n0^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n28, pc_Drive^0'=pc_Drive_next^post19, x^0'=x^0+2*n28, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n28, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0+2*n28, pc_Plan^0'=pc_Plan_next^post19, (-1-y^0+n1^0-2*n28 >= 0 /\ -1-x^0-2*n28+n0^0 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -1+n28 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+n0^0 >= 0), cost: 4*n28
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0+2*n28, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0+2*n28, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0+2*n28, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0+2*n28, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+n28 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -2-x^0-2*n28+n0^0 >= 0 /\ -2-y^0+n1^0-2*n28 >= 0 /\ -1+n0^0 >= 0), cost: 3+4*n28

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n28, pc_Drive^0'=pc_Drive_next^post19, x^0'=x^0+2*n28, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n28, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0+2*n28, pc_Plan^0'=pc_Plan_next^post19, (-1-y^0+n1^0-2*n28 >= 0 /\ -1-x^0-2*n28+n0^0 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -1+n28 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+n0^0 >= 0), cost: 4*n28
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n28, pc_Drive^0'=pc_Drive_next^post19, x^0'=x^0+2*n28, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n28, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0+2*n28, pc_Plan^0'=pc_Plan_next^post19, (-1-y^0+n1^0-2*n28 >= 0 /\ -1-x^0-2*n28+n0^0 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -1+n28 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+n0^0 >= 0), cost: 3+4*n28

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n28, pc_Drive^0'=pc_Drive_next^post19, x^0'=x^0+2*n28, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n28, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0+2*n28, pc_Plan^0'=pc_Plan_next^post19, (-1-y^0+n1^0-2*n28 >= 0 /\ -1-x^0-2*n28+n0^0 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -1+n28 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+n0^0 >= 0), cost: 4*n28
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n28, pc_Drive^0'=pc_Drive_next^post19, x^0'=x^0+2*n28, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n28, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0+2*n28, pc_Plan^0'=pc_Plan_next^post19, (-1-y^0+n1^0-2*n28 >= 0 /\ -1-x^0-2*n28+n0^0 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -1+n28 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+n0^0 >= 0), cost: 3+4*n28

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n30, pc_Drive^0'=pc_Drive_next^post20, x^0'=x^0+2*n30, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n30, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0+2*n30, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1-x^0+n0^0-2*n30 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n30 >= 0 /\ -1+n1^0 >= 0 /\ -1-y^0+n1^0-2*n30 >= 0 /\ -1+n0^0 >= 0), cost: 4*n30
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0+2*n30, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0+2*n30, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0+2*n30, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0+2*n30, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -2-y^0+n1^0-2*n30 >= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -2-x^0+n0^0-2*n30 >= 0 /\ -1+n30 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0 >= 0), cost: 3+4*n30

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n30, pc_Drive^0'=pc_Drive_next^post20, x^0'=x^0+2*n30, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n30, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0+2*n30, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1-x^0+n0^0-2*n30 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n30 >= 0 /\ -1+n1^0 >= 0 /\ -1-y^0+n1^0-2*n30 >= 0 /\ -1+n0^0 >= 0), cost: 4*n30
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n30, pc_Drive^0'=pc_Drive_next^post20, x^0'=x^0+2*n30, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n30, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0+2*n30, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1-x^0+n0^0-2*n30 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n30 >= 0 /\ -1+n1^0 >= 0 /\ -1-y^0+n1^0-2*n30 >= 0 /\ -1+n0^0 >= 0), cost: 3+4*n30

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n30, pc_Drive^0'=pc_Drive_next^post20, x^0'=x^0+2*n30, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n30, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0+2*n30, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1-x^0+n0^0-2*n30 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n30 >= 0 /\ -1+n1^0 >= 0 /\ -1-y^0+n1^0-2*n30 >= 0 /\ -1+n0^0 >= 0), cost: 4*n30
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n30, pc_Drive^0'=pc_Drive_next^post20, x^0'=x^0+2*n30, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n30, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0+2*n30, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1-x^0+n0^0-2*n30 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n30 >= 0 /\ -1+n1^0 >= 0 /\ -1-y^0+n1^0-2*n30 >= 0 /\ -1+n0^0 >= 0), cost: 3+4*n30

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2*n32+y^0, pc_Drive^0'=4, x^0'=x^0+2*n32, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2*n32+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n32, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+n32 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -1-2*n32-y^0+n1^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-x^0-2*n32+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1-2*n32-y^0+n1^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-x^0-2*n32+n0^0 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n32
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=1+2*n32+y^0, pc_Drive^0'=4, x^0'=1+x^0+2*n32, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+2*n32+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0+2*n32, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+n32 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -2-x^0-2*n32+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -2-2*n32-y^0+n1^0 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -2-x^0-2*n32+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -2-2*n32-y^0+n1^0 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n32

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2*n32+y^0, pc_Drive^0'=4, x^0'=x^0+2*n32, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2*n32+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n32, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+n32 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -1-2*n32-y^0+n1^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-x^0-2*n32+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1-2*n32-y^0+n1^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-x^0-2*n32+n0^0 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n32
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=2*n32+y^0, pc_Drive^0'=4, x^0'=x^0+2*n32, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2*n32+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n32, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -5+pc_Drive_next^post31 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -7+pc_Drive_next^post31 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+n32 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1-2*n32-y^0+n1^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-x^0-2*n32+n0^0 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1-2*n32-y^0+n1^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-x^0-2*n32+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n32

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=2*n32+y^0, pc_Drive^0'=4, x^0'=x^0+2*n32, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2*n32+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n32, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+n32 >= 0 /\ ((7-pc_Plan_next^post18 >= 0 /\ -1-2*n32-y^0+n1^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-x^0-2*n32+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1-2*n32-y^0+n1^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-x^0-2*n32+n0^0 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 4*n32
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=2*n32+y^0, pc_Drive^0'=4, x^0'=x^0+2*n32, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2*n32+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n32, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -3+pc_Drive_next^post32 <= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Drive_next^post32 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+n32 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1-2*n32-y^0+n1^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-x^0-2*n32+n0^0 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1-2*n32-y^0+n1^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-x^0-2*n32+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n32

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -2-y^0+n1^0 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -3-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -5-4*y^0+4*n1^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -2-y^0+n1^0 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*y^0+4*n1^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -2-y^0+n1^0 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*y^0+4*n1^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -2-x^0+n0^0 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -3-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -5-4*x^0+4*n0^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -2-x^0+n0^0 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*x^0+4*n0^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -1+pc_Plan_next^post25 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -2-x^0+n0^0 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*x^0+4*n0^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -3-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -5-4*y^0+4*n1^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*y^0+4*n1^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*y^0+4*n1^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -3-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+n0^0 >= 0), cost: -5-4*x^0+4*n0^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+n0^0 >= 0), cost: -1-4*x^0+4*n0^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+n0^0 >= 0), cost: -1-4*x^0+4*n0^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ -3-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -5-4*y^0+4*n1^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*y^0+4*n1^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*y^0+4*n1^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -3-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -5-4*x^0+4*n0^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*x^0+4*n0^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*x^0+4*n0^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -3+pc_Drive^post26 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -2-y^0+n1^0 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -3-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -5-4*y^0+4*n1^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -3+pc_Drive^post26 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -2-y^0+n1^0 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*y^0+4*n1^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -3+pc_Drive^post26 <= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -2-y^0+n1^0 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -4-4*y^0+4*n1^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*y^0+4*n1^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -3+pc_Drive^post26 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -3-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -5-4*x^0+4*n0^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -3+pc_Drive^post26 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*x^0+4*n0^0

Applied chaining
First rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3
Second rule:
l4 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post22 >= 0 /\ -7+pc_Plan_next^post26 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -3+pc_Drive^post26 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0), cost: -4-4*x^0+4*n0^0
New rule:
l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*x^0+4*n0^0

Applied deletion
Removed the following rules: 118 119 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157

Chained accelerated rules with incoming rules
Start location: l7
  55: l7 -> l4 : executed_Drive^0'=1, y_next^0'=1+y^0, pc_Drive^0'=4, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0, pc_Plan^0'=3, (0 == 0 /\ -3 <= 0 /\ -2 <= 0 /\ -4 <= 0 /\ -1 <= 0), cost: 3
  56: l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post31, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post31, x_next^0'=x^0, pc_Plan^0'=3, (-5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0), cost: 3
  57: l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0, pc_Drive^0'=pc_Drive_next^post32, is_aborted_next^0'=0, pc_Loop^0'=2, pc_Plan_next^0'=3, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post32, x_next^0'=x^0, pc_Plan^0'=3, (-3+pc_Drive_next^post32 <= 0 /\ -1+pc_Drive_next^post32 >= 0), cost: 3
 158: l7 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ 2+y^0-n1^0 <= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ 1-n0^0 <= 0), cost: 7
 159: l7 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ 2+x^0-n0^0 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ 2+y^0-n1^0 <= 0 /\ 1-n0^0 <= 0), cost: 7
 160: l7 -> l4 : executed_Drive^0'=0, y_next^0'=1+3*n14+y^0, pc_Drive^0'=4, x^0'=1+3*n14+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+3*n14+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+3*n14+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+n14 >= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -2-3*n14-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -2-3*n14-y^0+n1^0 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -2-3*n14-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -2-3*n14-y^0+n1^0 >= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n14
 161: l7 -> l4 : executed_Drive^0'=0, y_next^0'=3*n14+y^0, pc_Drive^0'=4, x^0'=3*n14+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=3*n14+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=3*n14+x^0, pc_Plan^0'=pc_Plan_next^post18, (-1+n14 >= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -5+pc_Drive_next^post31 >= 0 /\ -7+pc_Drive_next^post31 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-1-3*n14-y^0+n1^0 >= 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-3*n14-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0) \/ (-1-3*n14-y^0+n1^0 >= 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -1-3*n14-x^0+n0^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n14
 162: l7 -> l4 : executed_Drive^0'=0, y_next^0'=3*n14+y^0, pc_Drive^0'=4, x^0'=3*n14+x^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=3*n14+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=3*n14+x^0, pc_Plan^0'=pc_Plan_next^post18, (-3+pc_Drive_next^post32 <= 0 /\ -1+n14 >= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+pc_Drive_next^post32 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-1-3*n14-y^0+n1^0 >= 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-3*n14-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0) \/ (-1-3*n14-y^0+n1^0 >= 0 /\ -7+pc_Plan_next^post18 <= 0 /\ -1-3*n14-x^0+n0^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n14
 163: l7 -> l4 : executed_Drive^0'=0, y_next^0'=1+2*n16+y^0, pc_Drive^0'=4, x^0'=1+x^0+2*n16, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+2*n16+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0+2*n16, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -1+n16 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -2-2*n16-y^0+n1^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -2-x^0-2*n16+n0^0 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -2-2*n16-y^0+n1^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -2-x^0-2*n16+n0^0 >= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n16
 164: l7 -> l4 : executed_Drive^0'=0, y_next^0'=2*n16+y^0, pc_Drive^0'=4, x^0'=x^0+2*n16, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2*n16+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n16, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -5+pc_Drive_next^post31 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -7+pc_Drive_next^post31 <= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -1+n16 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1-x^0-2*n16+n0^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n16-y^0+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1-x^0-2*n16+n0^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1-2*n16-y^0+n1^0 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n16
 165: l7 -> l4 : executed_Drive^0'=0, y_next^0'=2*n16+y^0, pc_Drive^0'=4, x^0'=x^0+2*n16, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2*n16+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n16, pc_Plan^0'=pc_Plan_next^post18, (-3+pc_Drive_next^post32 <= 0 /\ -7+pc_Plan_next^post23 <= 0 /\ -3+pc_Drive_next^post23 <= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -1+pc_Drive_next^post23 >= 0 /\ -1+pc_Plan_next^post23 >= 0 /\ -1+n16 >= 0 /\ -1+pc_Drive_next^post32 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1-x^0-2*n16+n0^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1-2*n16-y^0+n1^0 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1-x^0-2*n16+n0^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-2*n16-y^0+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n16
 166: l7 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0+2*n18, pc_Drive^0'=4, x^0'=1+x^0+2*n18, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0+2*n18, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0+2*n18, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+n18 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -2-y^0+n1^0-2*n18 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -2-x^0+n0^0-2*n18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -2-y^0+n1^0-2*n18 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -2-x^0+n0^0-2*n18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n18
 167: l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n18, pc_Drive^0'=4, x^0'=x^0+2*n18, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n18, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n18, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -5+pc_Drive_next^post31 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+n18 >= 0 /\ -7+pc_Drive_next^post31 <= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-x^0+n0^0-2*n18 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-y^0+n1^0-2*n18 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-x^0+n0^0-2*n18 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -1-y^0+n1^0-2*n18 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n18
 168: l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n18, pc_Drive^0'=4, x^0'=x^0+2*n18, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n18, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n18, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post25 >= 0 /\ -3+pc_Drive_next^post32 <= 0 /\ -7+pc_Drive_next^post25 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -5+pc_Drive_next^post25 >= 0 /\ -7+pc_Plan_next^post25 <= 0 /\ -1+n18 >= 0 /\ -1+pc_Drive_next^post32 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-x^0+n0^0-2*n18 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -1-y^0+n1^0-2*n18 >= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-x^0+n0^0-2*n18 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-y^0+n1^0-2*n18 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n18
 169: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -3-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -5-4*y^0+4*n1^0
 170: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*y^0+4*n1^0
 171: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*y^0+4*n1^0
 172: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -3-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -5-4*x^0+4*n0^0
 173: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*x^0+4*n0^0
 174: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*x^0+4*n0^0
 175: l7 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0+2*n23, pc_Drive^0'=4, x^0'=1+x^0+2*n23, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0+2*n23, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0+2*n23, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+n23 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -2-x^0-2*n23+n0^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -2-y^0-2*n23+n1^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -2-x^0-2*n23+n0^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -2-y^0-2*n23+n1^0 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n23
 176: l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n23, pc_Drive^0'=4, x^0'=x^0+2*n23, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n23, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n23, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post26 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -5+pc_Drive_next^post31 >= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+n23 >= 0 /\ -7+pc_Drive_next^post31 <= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-y^0-2*n23+n1^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1-x^0-2*n23+n0^0 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-y^0-2*n23+n1^0 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-x^0-2*n23+n0^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n23
 177: l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n23, pc_Drive^0'=4, x^0'=x^0+2*n23, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n23, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n23, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post26 <= 0 /\ -3+pc_Drive_next^post32 <= 0 /\ -7+pc_Plan_next^post21 <= 0 /\ -3+pc_Drive^post26 <= 0 /\ -1+pc_Drive^post26 >= 0 /\ -1+n23 >= 0 /\ -1+pc_Plan_next^post26 >= 0 /\ -1+pc_Drive_next^post32 >= 0 /\ -1+pc_Plan_next^post21 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-y^0-2*n23+n1^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1-x^0-2*n23+n0^0 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-y^0-2*n23+n1^0 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -1-x^0-2*n23+n0^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n23
 178: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -3-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -5-4*y^0+4*n1^0
 179: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*y^0+4*n1^0
 180: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*y^0+4*n1^0
 181: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -3-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -5-4*x^0+4*n0^0
 182: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*x^0+4*n0^0
 183: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*x^0+4*n0^0
 184: l7 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0+2*n28, pc_Drive^0'=pc_Drive_next^post19, x^0'=1+x^0+2*n28, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0+2*n28, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=1+x^0+2*n28, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+n28 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -2-x^0-2*n28+n0^0 >= 0 /\ -2-y^0+n1^0-2*n28 >= 0 /\ -1+n0^0 >= 0), cost: 3+4*n28
 185: l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n28, pc_Drive^0'=pc_Drive_next^post19, x^0'=x^0+2*n28, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n28, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0+2*n28, pc_Plan^0'=pc_Plan_next^post19, (-1-y^0+n1^0-2*n28 >= 0 /\ -1-x^0-2*n28+n0^0 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -1+n28 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+n0^0 >= 0), cost: 3+4*n28
 186: l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n28, pc_Drive^0'=pc_Drive_next^post19, x^0'=x^0+2*n28, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n28, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=x^0+2*n28, pc_Plan^0'=pc_Plan_next^post19, (-1-y^0+n1^0-2*n28 >= 0 /\ -1-x^0-2*n28+n0^0 >= 0 /\ -7+pc_Plan_next^post19 <= 0 /\ -1+n28 >= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+n0^0 >= 0), cost: 3+4*n28
 187: l7 -> l4 : executed_Drive^0'=0, y_next^0'=1+y^0+2*n30, pc_Drive^0'=pc_Drive_next^post20, x^0'=1+x^0+2*n30, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+y^0+2*n30, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=1+x^0+2*n30, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -2-y^0+n1^0-2*n30 >= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -2-x^0+n0^0-2*n30 >= 0 /\ -1+n30 >= 0 /\ -1+n1^0 >= 0 /\ -1+n0^0 >= 0), cost: 3+4*n30
 188: l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n30, pc_Drive^0'=pc_Drive_next^post20, x^0'=x^0+2*n30, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n30, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0+2*n30, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1-x^0+n0^0-2*n30 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n30 >= 0 /\ -1+n1^0 >= 0 /\ -1-y^0+n1^0-2*n30 >= 0 /\ -1+n0^0 >= 0), cost: 3+4*n30
 189: l7 -> l4 : executed_Drive^0'=0, y_next^0'=y^0+2*n30, pc_Drive^0'=pc_Drive_next^post20, x^0'=x^0+2*n30, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=y^0+2*n30, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=x^0+2*n30, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1-x^0+n0^0-2*n30 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n30 >= 0 /\ -1+n1^0 >= 0 /\ -1-y^0+n1^0-2*n30 >= 0 /\ -1+n0^0 >= 0), cost: 3+4*n30
 190: l7 -> l4 : executed_Drive^0'=0, y_next^0'=1+2*n32+y^0, pc_Drive^0'=4, x^0'=1+x^0+2*n32, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=1+2*n32+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=1+x^0+2*n32, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+n32 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -2-x^0-2*n32+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -2-2*n32-y^0+n1^0 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -2-x^0-2*n32+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -2-2*n32-y^0+n1^0 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n32
 191: l7 -> l4 : executed_Drive^0'=0, y_next^0'=2*n32+y^0, pc_Drive^0'=4, x^0'=x^0+2*n32, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2*n32+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n32, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -5+pc_Drive_next^post31 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -7+pc_Drive_next^post31 <= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+n32 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1-2*n32-y^0+n1^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-x^0-2*n32+n0^0 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1-2*n32-y^0+n1^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-x^0-2*n32+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n32
 192: l7 -> l4 : executed_Drive^0'=0, y_next^0'=2*n32+y^0, pc_Drive^0'=4, x^0'=x^0+2*n32, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=2*n32+y^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=x^0+2*n32, pc_Plan^0'=pc_Plan_next^post18, (-1+pc_Plan_next^post22 >= 0 /\ -3+pc_Drive_next^post32 <= 0 /\ -7+pc_Drive_next^post22 <= 0 /\ -5+pc_Drive_next^post22 >= 0 /\ -1+pc_Plan_next^post24 >= 0 /\ -7+pc_Plan_next^post22 <= 0 /\ -1+pc_Drive_next^post32 >= 0 /\ -7+pc_Plan_next^post24 <= 0 /\ -1+n32 >= 0 /\ ((-7+pc_Plan_next^post18 <= 0 /\ -1-2*n32-y^0+n1^0 >= 0 /\ -7+pc_Plan_next^post7 <= 0 /\ -1-x^0-2*n32+n0^0 >= 0 /\ -1+is_aborted_next^post7 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted_next^post7 >= 0 /\ -1+pc_Plan_next^post7 >= 0 /\ -1+n0^0 >= 0) \/ (-7+pc_Plan_next^post18 <= 0 /\ -1-2*n32-y^0+n1^0 >= 0 /\ -1+pc_Plan^post11 >= 0 /\ -1-x^0-2*n32+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ is_aborted^post11 >= 0 /\ -1+is_aborted^post11 <= 0 /\ -7+pc_Plan^post11 <= 0 /\ -1+n0^0 >= 0))), cost: 3+4*n32
 193: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -3-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -5-4*y^0+4*n1^0
 194: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*y^0+4*n1^0
 195: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*y^0+4*n1^0
 196: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -3-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -5-4*x^0+4*n0^0
 197: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*x^0+4*n0^0
 198: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*x^0+4*n0^0
 199: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -3-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -5-4*y^0+4*n1^0
 200: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*y^0+4*n1^0
 201: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -1+n1^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*y^0+4*n1^0
 202: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -3-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+n0^0 >= 0), cost: -5-4*x^0+4*n0^0
 203: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+n0^0 >= 0), cost: -1-4*x^0+4*n0^0
 204: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post19, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post19, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post19, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post19, (-7+pc_Plan_next^post19 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+pc_Plan_next^post19 >= 0 /\ -5+pc_Drive_next^post19 >= 0 /\ -7+pc_Drive_next^post19 <= 0 /\ -1+n0^0 >= 0), cost: -1-4*x^0+4*n0^0
 205: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ -3-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -5-4*y^0+4*n1^0
 206: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*y^0+4*n1^0
 207: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*y^0+4*n1^0
 208: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -3-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -5-4*x^0+4*n0^0
 209: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*x^0+4*n0^0
 210: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=pc_Drive_next^post20, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan^post20, is_aborted^0'=0, pc_Drive_next^0'=pc_Drive_next^post20, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan^post20, (-7+pc_Plan^post20 <= 0 /\ -3+pc_Drive_next^post20 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan^post20 >= 0 /\ -1+pc_Drive_next^post20 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*x^0+4*n0^0
 211: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -3-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -5-4*y^0+4*n1^0
 212: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*y^0+4*n1^0
 213: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1+n1^0, pc_Drive^0'=4, x^0'=-1+x^0-y^0+n1^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1+n1^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+x^0-y^0+n1^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ -2-y^0+n1^0 >= 0 /\ -x^0+y^0-n1^0+n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*y^0+4*n1^0
 214: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -3-x^0+n0^0 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -5-4*x^0+4*n0^0
 215: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*x^0+4*n0^0
 216: l7 -> l4 : executed_Drive^0'=0, y_next^0'=-1-x^0+y^0+n0^0, pc_Drive^0'=4, x^0'=-1+n0^0, is_aborted_next^0'=0, pc_Loop^0'=2, y^0'=-1-x^0+y^0+n0^0, pc_Plan_next^0'=pc_Plan_next^post18, is_aborted^0'=0, pc_Drive_next^0'=4, x_next^0'=-1+n0^0, pc_Plan^0'=pc_Plan_next^post18, (-7+pc_Plan_next^post18 <= 0 /\ -2-x^0+n0^0 >= 0 /\ -1+pc_Plan_next^post18 >= 0 /\ -1+n1^0 >= 0 /\ x^0-y^0+n1^0-n0^0 >= 0 /\ -1+n0^0 >= 0), cost: -1-4*x^0+4*n0^0


Removed unreachable locations and irrelevant leafs
Start location: l7
  <empty>


Computing asymptotic complexity

Proved the following lower bound
Complexity:  Unknown
Cpx degree: ?

Solved cost: 0
Rule cost:   0