generated(1769281487716,'Sat Jan 24 20:04:47 CET 2026').
project_name('MarsRover').
machine_name('Rover3').
disprover_po('inv14/WD',event_b_context(none,'DisproverContext',[axioms(none,[member(none,identifier(none,'B'),integer_set(none)),member(none,identifier(none,frontPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,occupiedFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,interestingFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,obstacles),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaInt),integer_set(none)),member(none,identifier(none,'L'),integer_set(none)),member(none,identifier(none,battery),integer_set(none)),member(none,identifier(none,'N'),identifier(none,orientations)),member(none,identifier(none,betaMin),integer_set(none)),member(none,identifier(none,'O'),identifier(none,orientations)),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'S'),identifier(none,orientations)),member(none,identifier(none,freeFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'W'),identifier(none,orientations)),member(none,identifier(none,betaMax),integer_set(none)),member(none,identifier(none,alphaMax),integer_set(none)),member(none,identifier(none,epsilonS),integer_set(none)),member(none,identifier(none,orientation),identifier(none,orientations)),member(none,identifier(none,pathsToInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,epsilonK),integer_set(none)),member(none,identifier(none,'Offset'),pow_subset(none,cartesian_product(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,sensorRange),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,pathFromBaseStation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,visibilityRange),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,field),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,radiation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),member(none,identifier(none,findInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,baseStation),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rover),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rearPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,newOrientation),pow_subset(none,cartesian_product(none,identifier(none,orientations),identifier(none,orientations)))),conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])])])])])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])])])])])))))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),forall(none,[identifier(none,'Pos')],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]),forall(none,[identifier(none,x),identifier(none,y)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),member(none,identifier(none,y),integer_set(none))]),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields))]),constants(none,[identifier(none,'B'),identifier(none,frontPosition),identifier(none,occupiedFields),identifier(none,interestingFields),identifier(none,obstacles),identifier(none,alphaInt),identifier(none,'L'),identifier(none,battery),identifier(none,'N'),identifier(none,betaMin),identifier(none,'O'),identifier(none,initialOrientation),identifier(none,'S'),identifier(none,freeFields),identifier(none,'W'),identifier(none,betaMax),identifier(none,alphaMax),identifier(none,epsilonS),identifier(none,orientation),identifier(none,pathsToInterestingFields),identifier(none,epsilonK),identifier(none,'Offset'),identifier(none,sensorRange),identifier(none,pathFromBaseStation),identifier(none,visibilityRange),identifier(none,field),identifier(none,radiation),identifier(none,findInterestingFields),identifier(none,baseStation),identifier(none,rover),identifier(none,rearPosition),identifier(none,newOrientation)]),sets(none,[deferred_set(none,orientations),deferred_set(none,fieldTypes)])]),conjunct(none,[member(none,identifier(none,rover),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]),[conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])))))]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),forall(none,[identifier(none,'Pos')],implication(none,member(none,identifier(none,'Pos'),identifier(none,field)),forall(none,[identifier(none,x),identifier(none,y)],implication(none,truth(none),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields))],[],true).
disprover_po('INITIALISATION/inv14/INV',event_b_context(none,'DisproverContext',[axioms(none,[member(none,identifier(none,'pathsToInterestingFields\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,'B'),integer_set(none)),member(none,identifier(none,frontPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,obstacles),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaInt),integer_set(none)),member(none,identifier(none,'L'),integer_set(none)),member(none,identifier(none,'N'),identifier(none,orientations)),member(none,identifier(none,'battery\''),integer_set(none)),member(none,identifier(none,'O'),identifier(none,orientations)),member(none,identifier(none,'freeFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'S'),identifier(none,orientations)),member(none,identifier(none,'betaMin\''),integer_set(none)),member(none,identifier(none,'interestingFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'pathFromBaseStation\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,'W'),identifier(none,orientations)),member(none,identifier(none,betaMax),integer_set(none)),member(none,identifier(none,'occupiedFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaMax),integer_set(none)),member(none,identifier(none,epsilonS),integer_set(none)),member(none,identifier(none,epsilonK),integer_set(none)),member(none,identifier(none,'Offset'),pow_subset(none,cartesian_product(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,sensorRange),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,visibilityRange),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,field),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,radiation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),member(none,identifier(none,findInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,baseStation),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'rover\''),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'orientation\''),identifier(none,orientations)),member(none,identifier(none,rearPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,newOrientation),pow_subset(none,cartesian_product(none,identifier(none,orientations),identifier(none,orientations)))),conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])])])])])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])])])])])))))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),forall(none,[identifier(none,'Pos')],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]),forall(none,[identifier(none,x),identifier(none,y)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),member(none,identifier(none,y),integer_set(none))]),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))])))))]),constants(none,[identifier(none,'pathsToInterestingFields\''),identifier(none,'B'),identifier(none,frontPosition),identifier(none,obstacles),identifier(none,alphaInt),identifier(none,'L'),identifier(none,'N'),identifier(none,'battery\''),identifier(none,'O'),identifier(none,'freeFields\''),identifier(none,initialOrientation),identifier(none,'S'),identifier(none,'betaMin\''),identifier(none,'interestingFields\''),identifier(none,'pathFromBaseStation\''),identifier(none,'W'),identifier(none,betaMax),identifier(none,'occupiedFields\''),identifier(none,alphaMax),identifier(none,epsilonS),identifier(none,epsilonK),identifier(none,'Offset'),identifier(none,sensorRange),identifier(none,visibilityRange),identifier(none,field),identifier(none,radiation),identifier(none,findInterestingFields),identifier(none,baseStation),identifier(none,'rover\''),identifier(none,'orientation\''),identifier(none,rearPosition),identifier(none,newOrientation)]),sets(none,[deferred_set(none,orientations),deferred_set(none,fieldTypes)])]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),[conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none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dd(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),forall(none,[identifier(none,'Pos')],implication(none,member(none,identifier(none,'Pos'),identifier(none,field)),forall(none,[identifier(none,x),identifier(none,y)],implication(none,truth(none),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))])))))],[],true).
disprover_po('INITIALISATION/inv15/INV',event_b_context(none,'DisproverContext',[axioms(none,[member(none,identifier(none,'pathsToInterestingFields\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,'B'),integer_set(none)),member(none,identifier(none,frontPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,obstacles),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaInt),integer_set(none)),member(none,identifier(none,'L'),integer_set(none)),member(none,identifier(none,'N'),identifier(none,orientations)),member(none,identifier(none,'battery\''),integer_set(none)),member(none,identifier(none,'O'),identifier(none,orientations)),member(none,identifier(none,'freeFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'S'),identifier(none,orientations)),member(none,identifier(none,'betaMin\''),integer_set(none)),member(none,identifier(none,'interestingFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'pathFromBaseStation\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,'W'),identifier(none,orientations)),member(none,identifier(none,betaMax),integer_set(none)),member(none,identifier(none,'occupiedFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaMax),integer_set(none)),member(none,identifier(none,epsilonS),integer_set(none)),member(none,identifier(none,epsilonK),integer_set(none)),member(none,identifier(none,'Offset'),pow_subset(none,cartesian_product(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,sensorRange),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,visibilityRange),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,field),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,radiation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),member(none,identifier(none,findInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,baseStation),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'rover\''),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'orientation\''),identifier(none,orientations)),member(none,identifier(none,rearPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,newOrientation),pow_subset(none,cartesian_product(none,identifier(none,orientations),identifier(none,orientations)))),conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])])])])])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])])])])])))))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),forall(none,[identifier(none,'Pos')],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]),forall(none,[identifier(none,x),identifier(none,y)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),member(none,identifier(none,y),integer_set(none))]),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),member(none,identifier(none,baseStation),domain(none,identifier(none,findInterestingFields))),member(none,identifier(none,findInterestingFields),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))]),constants(none,[identifier(none,'pathsToInterestingFields\''),identifier(none,'B'),identifier(none,frontPosition),identifier(none,obstacles),identifier(none,alphaInt),identifier(none,'L'),identifier(none,'N'),identifier(none,'battery\''),identifier(none,'O'),identifier(none,'freeFields\''),identifier(none,initialOrientation),identifier(none,'S'),identifier(none,'betaMin\''),identifier(none,'interestingFields\''),identifier(none,'pathFromBaseStation\''),identifier(none,'W'),identifier(none,betaMax),identifier(none,'occupiedFields\''),identifier(none,alphaMax),identifier(none,epsilonS),identifier(none,epsilonK),identifier(none,'Offset'),identifier(none,sensorRange),identifier(none,visibilityRange),identifier(none,field),identifier(none,radiation),identifier(none,findInterestingFields),identifier(none,baseStation),identifier(none,'rover\''),identifier(none,'orientation\''),identifier(none,rearPosition),identifier(none,newOrientation)]),sets(none,[deferred_set(none,orientations),deferred_set(none,fieldTypes)])]),subset(none,function(none,identifier(none,findInterestingFields),[identifier(none,baseStation)]),identifier(none,field)),[conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])))))]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),forall(none,[identifier(none,'Pos')],implication(none,member(none,identifier(none,'Pos'),identifier(none,field)),forall(none,[identifier(none,x),identifier(none,y)],implication(none,truth(none),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),member(none,identifier(none,baseStation),domain(none,identifier(none,findInterestingFields))),member(none,identifier(none,findInterestingFields),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))],[],true).
disprover_po('INITIALISATION/inv16/INV',event_b_context(none,'DisproverContext',[axioms(none,[member(none,identifier(none,'pathsToInterestingFields\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,'B'),integer_set(none)),member(none,identifier(none,frontPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,obstacles),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaInt),integer_set(none)),member(none,identifier(none,'L'),integer_set(none)),member(none,identifier(none,'N'),identifier(none,orientations)),member(none,identifier(none,'battery\''),integer_set(none)),member(none,identifier(none,'O'),identifier(none,orientations)),member(none,identifier(none,'freeFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'S'),identifier(none,orientations)),member(none,identifier(none,'betaMin\''),integer_set(none)),member(none,identifier(none,'interestingFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'pathFromBaseStation\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,'W'),identifier(none,orientations)),member(none,identifier(none,betaMax),integer_set(none)),member(none,identifier(none,'occupiedFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaMax),integer_set(none)),member(none,identifier(none,epsilonS),integer_set(none)),member(none,identifier(none,epsilonK),integer_set(none)),member(none,identifier(none,'Offset'),pow_subset(none,cartesian_product(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,sensorRange),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,visibilityRange),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,field),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,radiation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),member(none,identifier(none,findInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,baseStation),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'rover\''),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'orientation\''),identifier(none,orientations)),member(none,identifier(none,rearPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,newOrientation),pow_subset(none,cartesian_product(none,identifier(none,orientations),identifier(none,orientations)))),conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])])])])])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])])])])])))))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),forall(none,[identifier(none,'Pos')],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]),forall(none,[identifier(none,x),identifier(none,y)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),member(none,identifier(none,y),integer_set(none))]),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))])))))]),constants(none,[identifier(none,'pathsToInterestingFields\''),identifier(none,'B'),identifier(none,frontPosition),identifier(none,obstacles),identifier(none,alphaInt),identifier(none,'L'),identifier(none,'N'),identifier(none,'battery\''),identifier(none,'O'),identifier(none,'freeFields\''),identifier(none,initialOrientation),identifier(none,'S'),identifier(none,'betaMin\''),identifier(none,'interestingFields\''),identifier(none,'pathFromBaseStation\''),identifier(none,'W'),identifier(none,betaMax),identifier(none,'occupiedFields\''),identifier(none,alphaMax),identifier(none,epsilonS),identifier(none,epsilonK),identifier(none,'Offset'),identifier(none,sensorRange),identifier(none,visibilityRange),identifier(none,field),identifier(none,radiation),identifier(none,findInterestingFields),identifier(none,baseStation),identifier(none,'rover\''),identifier(none,'orientation\''),identifier(none,rearPosition),identifier(none,newOrientation)]),sets(none,[deferred_set(none,orientations),deferred_set(none,fieldTypes)])]),member(none,typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),relations(none,identifier(none,field),identifier(none,field))),[conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])))))]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k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uct(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),forall(none,[identifier(none,'Pos')],implication(none,member(none,identifier(none,'Pos'),identifier(none,field)),forall(none,[identifier(none,x),identifier(none,y)],implication(none,truth(none),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))])))))],[],true).
disprover_po('INITIALISATION/inv17/INV',event_b_context(none,'DisproverContext',[axioms(none,[member(none,identifier(none,'pathsToInterestingFields\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,'B'),integer_set(none)),member(none,identifier(none,frontPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,obstacles),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaInt),integer_set(none)),member(none,identifier(none,'L'),integer_set(none)),member(none,identifier(none,'N'),identifier(none,orientations)),member(none,identifier(none,'battery\''),integer_set(none)),member(none,identifier(none,'O'),identifier(none,orientations)),member(none,identifier(none,'freeFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'S'),identifier(none,orientations)),member(none,identifier(none,'betaMin\''),integer_set(none)),member(none,identifier(none,'interestingFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'pathFromBaseStation\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,'W'),identifier(none,orientations)),member(none,identifier(none,betaMax),integer_set(none)),member(none,identifier(none,'occupiedFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaMax),integer_set(none)),member(none,identifier(none,epsilonS),integer_set(none)),member(none,identifier(none,epsilonK),integer_set(none)),member(none,identifier(none,'Offset'),pow_subset(none,cartesian_product(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,sensorRange),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,visibilityRange),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,field),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,radiation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),member(none,identifier(none,findInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,baseStation),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'rover\''),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'orientation\''),identifier(none,orientations)),member(none,identifier(none,rearPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,newOrientation),pow_subset(none,cartesian_product(none,identifier(none,orientations),identifier(none,orientations)))),conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])])])])])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])])])])])))))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),forall(none,[identifier(none,'Pos')],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]),forall(none,[identifier(none,x),identifier(none,y)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),member(none,identifier(none,y),integer_set(none))]),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))])))))]),constants(none,[identifier(none,'pathsToInterestingFields\''),identifier(none,'B'),identifier(none,frontPosition),identifier(none,obstacles),identifier(none,alphaInt),identifier(none,'L'),identifier(none,'N'),identifier(none,'battery\''),identifier(none,'O'),identifier(none,'freeFields\''),identifier(none,initialOrientation),identifier(none,'S'),identifier(none,'betaMin\''),identifier(none,'interestingFields\''),identifier(none,'pathFromBaseStation\''),identifier(none,'W'),identifier(none,betaMax),identifier(none,'occupiedFields\''),identifier(none,alphaMax),identifier(none,epsilonS),identifier(none,epsilonK),identifier(none,'Offset'),identifier(none,sensorRange),identifier(none,visibilityRange),identifier(none,field),identifier(none,radiation),identifier(none,findInterestingFields),identifier(none,baseStation),identifier(none,'rover\''),identifier(none,'orientation\''),identifier(none,rearPosition),identifier(none,newOrientation)]),sets(none,[deferred_set(none,orientations),deferred_set(none,fieldTypes)])]),member(none,typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),[conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])))))]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),forall(none,[identifier(none,'Pos')],implication(none,member(none,identifier(none,'Pos'),identifier(none,field)),forall(none,[identifier(none,x),identifier(none,y)],implication(none,truth(none),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))])))))],[],true).
disprover_po('INITIALISATION/init31/WD',event_b_context(none,'DisproverContext',[axioms(none,[member(none,identifier(none,'pathsToInterestingFields\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,'B'),integer_set(none)),member(none,identifier(none,frontPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,obstacles),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaInt),integer_set(none)),member(none,identifier(none,'L'),integer_set(none)),member(none,identifier(none,'N'),identifier(none,orientations)),member(none,identifier(none,'battery\''),integer_set(none)),member(none,identifier(none,'O'),identifier(none,orientations)),member(none,identifier(none,'freeFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'S'),identifier(none,orientations)),member(none,identifier(none,'betaMin\''),integer_set(none)),member(none,identifier(none,'interestingFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'pathFromBaseStation\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,'W'),identifier(none,orientations)),member(none,identifier(none,betaMax),integer_set(none)),member(none,identifier(none,'occupiedFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaMax),integer_set(none)),member(none,identifier(none,epsilonS),integer_set(none)),member(none,identifier(none,epsilonK),integer_set(none)),member(none,identifier(none,'Offset'),pow_subset(none,cartesian_product(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,sensorRange),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,visibilityRange),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,field),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,radiation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),member(none,identifier(none,findInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,baseStation),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'rover\''),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'orientation\''),identifier(none,orientations)),member(none,identifier(none,rearPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,newOrientation),pow_subset(none,cartesian_product(none,identifier(none,orientations),identifier(none,orientations)))),conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])])])])])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])])])])])))))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),forall(none,[identifier(none,'Pos')],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]),forall(none,[identifier(none,x),identifier(none,y)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),member(none,identifier(none,y),integer_set(none))]),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))])))))]),constants(none,[identifier(none,'pathsToInterestingFields\''),identifier(none,'B'),identifier(none,frontPosition),identifier(none,obstacles),identifier(none,alphaInt),identifier(none,'L'),identifier(none,'N'),identifier(none,'battery\''),identifier(none,'O'),identifier(none,'freeFields\''),identifier(none,initialOrientation),identifier(none,'S'),identifier(none,'betaMin\''),identifier(none,'interestingFields\''),identifier(none,'pathFromBaseStation\''),identifier(none,'W'),identifier(none,betaMax),identifier(none,'occupiedFields\''),identifier(none,alphaMax),identifier(none,epsilonS),identifier(none,epsilonK),identifier(none,'Offset'),identifier(none,sensorRange),identifier(none,visibilityRange),identifier(none,field),identifier(none,radiation),identifier(none,findInterestingFields),identifier(none,baseStation),identifier(none,'rover\''),identifier(none,'orientation\''),identifier(none,rearPosition),identifier(none,newOrientation)]),sets(none,[deferred_set(none,orientations),deferred_set(none,fieldTypes)])]),conjunct(none,[member(none,identifier(none,baseStation),domain(none,identifier(none,findInterestingFields))),member(none,identifier(none,findInterestingFields),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))]),[conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])))))]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),forall(none,[identifier(none,'Pos')],implication(none,member(none,identifier(none,'Pos'),identifier(none,field)),forall(none,[identifier(none,x),identifier(none,y)],implication(none,truth(none),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))])))))],[],true).
disprover_po('moveForward/grd31/WD',event_b_context(none,'DisproverContext',[axioms(none,[member(none,identifier(none,'pathsToInterestingFields\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,'B'),integer_set(none)),member(none,identifier(none,frontPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,occupiedFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,interestingFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,obstacles),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaInt),integer_set(none)),member(none,identifier(none,'L'),integer_set(none)),member(none,identifier(none,battery),integer_set(none)),member(none,identifier(none,'N'),identifier(none,orientations)),member(none,identifier(none,betaMin),integer_set(none)),member(none,identifier(none,'battery\''),integer_set(none)),member(none,identifier(none,'O'),identifier(none,orientations)),member(none,identifier(none,'freeFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'S'),identifier(none,orientations)),member(none,identifier(none,'betaMin\''),integer_set(none)),member(none,identifier(none,'interestingFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'pathFromBaseStation\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,freeFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'W'),identifier(none,orientations)),member(none,identifier(none,betaMax),integer_set(none)),member(none,identifier(none,'occupiedFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaMax),integer_set(none)),member(none,identifier(none,epsilonS),integer_set(none)),member(none,identifier(none,orientation),identifier(none,orientations)),member(none,identifier(none,pathsToInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,epsilonK),integer_set(none)),member(none,identifier(none,'Offset'),pow_subset(none,cartesian_product(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,sensorRange),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,pathFromBaseStation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,visibilityRange),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,field),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,radiation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),member(none,identifier(none,findInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,baseStation),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'rover\''),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rover),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rearPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,newOrientation),pow_subset(none,cartesian_product(none,identifier(none,orientations),identifier(none,orientations)))),conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])])])])])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])])])])])))))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),forall(none,[identifier(none,'Pos')],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]),forall(none,[identifier(none,x),identifier(none,y)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),member(none,identifier(none,y),integer_set(none))]),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,frontPosition))),member(none,identifier(none,frontPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields))]),constants(none,[identifier(none,'pathsToInterestingFields\''),identifier(none,'B'),identifier(none,frontPosition),identifier(none,occupiedFields),identifier(none,interestingFields),identifier(none,obstacles),identifier(none,alphaInt),identifier(none,'L'),identifier(none,battery),identifier(none,'N'),identifier(none,betaMin),identifier(none,'battery\''),identifier(none,'O'),identifier(none,'freeFields\''),identifier(none,initialOrientation),identifier(none,'S'),identifier(none,'betaMin\''),identifier(none,'interestingFields\''),identifier(none,'pathFromBaseStation\''),identifier(none,freeFields),identifier(none,'W'),identifier(none,betaMax),identifier(none,'occupiedFields\''),identifier(none,alphaMax),identifier(none,epsilonS),identifier(none,orientation),identifier(none,pathsToInterestingFields),identifier(none,epsilonK),identifier(none,'Offset'),identifier(none,sensorRange),identifier(none,pathFromBaseStation),identifier(none,visibilityRange),identifier(none,field),identifier(none,radiation),identifier(none,findInterestingFields),identifier(none,baseStation),identifier(none,'rover\''),identifier(none,rover),identifier(none,rearPosition),identifier(none,newOrientation)]),sets(none,[deferred_set(none,orientations),deferred_set(none,fieldTypes)])]),conjunct(none,[member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,frontPosition))),member(none,identifier(none,frontPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]),[conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])))))]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),forall(none,[identifier(none,'Pos')],implication(none,member(none,identifier(none,'Pos'),identifier(none,field)),forall(none,[identifier(none,x),identifier(none,y)],implication(none,truth(none),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,frontPosition))),member(none,identifier(none,frontPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields))],[member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields))],true).
disprover_po('moveForward/inv14/INV',event_b_context(none,'DisproverContext',[axioms(none,[member(none,identifier(none,'pathsToInterestingFields\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,'B'),integer_set(none)),member(none,identifier(none,frontPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,occupiedFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,interestingFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,obstacles),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaInt),integer_set(none)),member(none,identifier(none,'L'),integer_set(none)),member(none,identifier(none,battery),integer_set(none)),member(none,identifier(none,'N'),identifier(none,orientations)),member(none,identifier(none,betaMin),integer_set(none)),member(none,identifier(none,'battery\''),integer_set(none)),member(none,identifier(none,'O'),identifier(none,orientations)),member(none,identifier(none,'freeFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'S'),identifier(none,orientations)),member(none,identifier(none,'betaMin\''),integer_set(none)),member(none,identifier(none,'interestingFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'pathFromBaseStation\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,freeFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'W'),identifier(none,orientations)),member(none,identifier(none,betaMax),integer_set(none)),member(none,identifier(none,'occupiedFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaMax),integer_set(none)),member(none,identifier(none,epsilonS),integer_set(none)),member(none,identifier(none,orientation),identifier(none,orientations)),member(none,identifier(none,pathsToInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,epsilonK),integer_set(none)),member(none,identifier(none,'Offset'),pow_subset(none,cartesian_product(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,sensorRange),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,pathFromBaseStation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,visibilityRange),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,field),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,radiation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),member(none,identifier(none,findInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,baseStation),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'rover\''),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rover),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rearPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,newOrientation),pow_subset(none,cartesian_product(none,identifier(none,orientations),identifier(none,orientations)))),conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])])])])])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])])])])])))))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),forall(none,[identifier(none,'Pos')],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]),forall(none,[identifier(none,x),identifier(none,y)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),member(none,identifier(none,y),integer_set(none))]),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,frontPosition))),member(none,identifier(none,frontPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation)))]),constants(none,[identifier(none,'pathsToInterestingFields\''),identifier(none,'B'),identifier(none,frontPosition),identifier(none,occupiedFields),identifier(none,interestingFields),identifier(none,obstacles),identifier(none,alphaInt),identifier(none,'L'),identifier(none,battery),identifier(none,'N'),identifier(none,betaMin),identifier(none,'battery\''),identifier(none,'O'),identifier(none,'freeFields\''),identifier(none,initialOrientation),identifier(none,'S'),identifier(none,'betaMin\''),identifier(none,'interestingFields\''),identifier(none,'pathFromBaseStation\''),identifier(none,freeFields),identifier(none,'W'),identifier(none,betaMax),identifier(none,'occupiedFields\''),identifier(none,alphaMax),identifier(none,epsilonS),identifier(none,orientation),identifier(none,pathsToInterestingFields),identifier(none,epsilonK),identifier(none,'Offset'),identifier(none,sensorRange),identifier(none,pathFromBaseStation),identifier(none,visibilityRange),identifier(none,field),identifier(none,radiation),identifier(none,findInterestingFields),identifier(none,baseStation),identifier(none,'rover\''),identifier(none,rover),identifier(none,rearPosition),identifier(none,newOrientation)]),sets(none,[deferred_set(none,orientations),deferred_set(none,fieldTypes)])]),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),[conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])))))]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),forall(none,[identifier(none,'Pos')],implication(none,member(none,identifier(none,'Pos'),identifier(none,field)),forall(none,[identifier(none,x),identifier(none,y)],implication(none,truth(none),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,frontPosition))),member(none,identifier(none,frontPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation)))],[less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax))],true).
disprover_po('moveForward/inv15/INV',event_b_context(none,'DisproverContext',[axioms(none,[member(none,identifier(none,'pathsToInterestingFields\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,'B'),integer_set(none)),member(none,identifier(none,frontPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,occupiedFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,interestingFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,obstacles),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaInt),integer_set(none)),member(none,identifier(none,'L'),integer_set(none)),member(none,identifier(none,battery),integer_set(none)),member(none,identifier(none,'N'),identifier(none,orientations)),member(none,identifier(none,betaMin),integer_set(none)),member(none,identifier(none,'battery\''),integer_set(none)),member(none,identifier(none,'O'),identifier(none,orientations)),member(none,identifier(none,'freeFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'S'),identifier(none,orientations)),member(none,identifier(none,'betaMin\''),integer_set(none)),member(none,identifier(none,'interestingFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'pathFromBaseStation\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,freeFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'W'),identifier(none,orientations)),member(none,identifier(none,betaMax),integer_set(none)),member(none,identifier(none,'occupiedFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaMax),integer_set(none)),member(none,identifier(none,epsilonS),integer_set(none)),member(none,identifier(none,orientation),identifier(none,orientations)),member(none,identifier(none,pathsToInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,epsilonK),integer_set(none)),member(none,identifier(none,'Offset'),pow_subset(none,cartesian_product(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,sensorRange),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,pathFromBaseStation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,visibilityRange),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,field),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,radiation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),member(none,identifier(none,findInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,baseStation),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'rover\''),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rover),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rearPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,newOrientation),pow_subset(none,cartesian_product(none,identifier(none,orientations),identifier(none,orientations)))),conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])])])])])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])])])])])))))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),forall(none,[identifier(none,'Pos')],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]),forall(none,[identifier(none,x),identifier(none,y)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),member(none,identifier(none,y),integer_set(none))]),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,frontPosition))),member(none,identifier(none,frontPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,findInterestingFields))),member(none,identifier(none,findInterestingFields),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))]),constants(none,[identifier(none,'pathsToInterestingFields\''),identifier(none,'B'),identifier(none,frontPosition),identifier(none,occupiedFields),identifier(none,interestingFields),identifier(none,obstacles),identifier(none,alphaInt),identifier(none,'L'),identifier(none,battery),identifier(none,'N'),identifier(none,betaMin),identifier(none,'battery\''),identifier(none,'O'),identifier(none,'freeFields\''),identifier(none,initialOrientation),identifier(none,'S'),identifier(none,'betaMin\''),identifier(none,'interestingFields\''),identifier(none,'pathFromBaseStation\''),identifier(none,freeFields),identifier(none,'W'),identifier(none,betaMax),identifier(none,'occupiedFields\''),identifier(none,alphaMax),identifier(none,epsilonS),identifier(none,orientation),identifier(none,pathsToInterestingFields),identifier(none,epsilonK),identifier(none,'Offset'),identifier(none,sensorRange),identifier(none,pathFromBaseStation),identifier(none,visibilityRange),identifier(none,field),identifier(none,radiation),identifier(none,findInterestingFields),identifier(none,baseStation),identifier(none,'rover\''),identifier(none,rover),identifier(none,rearPosition),identifier(none,newOrientation)]),sets(none,[deferred_set(none,orientations),deferred_set(none,fieldTypes)])]),subset(none,union(none,identifier(none,interestingFields),function(none,identifier(none,findInterestingFields),[function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])])),identifier(none,field)),[conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])))))]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),forall(none,[identifier(none,'Pos')],implication(none,member(none,identifier(none,'Pos'),identifier(none,field)),forall(none,[identifier(none,x),identifier(none,y)],implication(none,truth(none),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,frontPosition))),member(none,identifier(none,frontPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,findInterestingFields))),member(none,identifier(none,findInterestingFields),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))],[subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax))],true).
disprover_po('moveForward/inv16/INV',event_b_context(none,'DisproverContext',[axioms(none,[member(none,identifier(none,'pathsToInterestingFields\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,'B'),integer_set(none)),member(none,identifier(none,frontPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,occupiedFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,interestingFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,obstacles),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaInt),integer_set(none)),member(none,identifier(none,'L'),integer_set(none)),member(none,identifier(none,battery),integer_set(none)),member(none,identifier(none,'N'),identifier(none,orientations)),member(none,identifier(none,betaMin),integer_set(none)),member(none,identifier(none,'battery\''),integer_set(none)),member(none,identifier(none,'O'),identifier(none,orientations)),member(none,identifier(none,'freeFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'S'),identifier(none,orientations)),member(none,identifier(none,'betaMin\''),integer_set(none)),member(none,identifier(none,'interestingFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'pathFromBaseStation\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,freeFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'W'),identifier(none,orientations)),member(none,identifier(none,betaMax),integer_set(none)),member(none,identifier(none,'occupiedFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaMax),integer_set(none)),member(none,identifier(none,epsilonS),integer_set(none)),member(none,identifier(none,orientation),identifier(none,orientations)),member(none,identifier(none,pathsToInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,epsilonK),integer_set(none)),member(none,identifier(none,'Offset'),pow_subset(none,cartesian_product(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,sensorRange),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,pathFromBaseStation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,visibilityRange),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,field),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,radiation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),member(none,identifier(none,findInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,baseStation),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'rover\''),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rover),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rearPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,newOrientation),pow_subset(none,cartesian_product(none,identifier(none,orientations),identifier(none,orientations)))),conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])])])])])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])])])])])))))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),forall(none,[identifier(none,'Pos')],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]),forall(none,[identifier(none,x),identifier(none,y)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),member(none,identifier(none,y),integer_set(none))]),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,frontPosition))),member(none,identifier(none,frontPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation)))]),constants(none,[identifier(none,'pathsToInterestingFields\''),identifier(none,'B'),identifier(none,frontPosition),identifier(none,occupiedFields),identifier(none,interestingFields),identifier(none,obstacles),identifier(none,alphaInt),identifier(none,'L'),identifier(none,battery),identifier(none,'N'),identifier(none,betaMin),identifier(none,'battery\''),identifier(none,'O'),identifier(none,'freeFields\''),identifier(none,initialOrientation),identifier(none,'S'),identifier(none,'betaMin\''),identifier(none,'interestingFields\''),identifier(none,'pathFromBaseStation\''),identifier(none,freeFields),identifier(none,'W'),identifier(none,betaMax),identifier(none,'occupiedFields\''),identifier(none,alphaMax),identifier(none,epsilonS),identifier(none,orientation),identifier(none,pathsToInterestingFields),identifier(none,epsilonK),identifier(none,'Offset'),identifier(none,sensorRange),identifier(none,pathFromBaseStation),identifier(none,visibilityRange),identifier(none,field),identifier(none,radiation),identifier(none,findInterestingFields),identifier(none,baseStation),identifier(none,'rover\''),identifier(none,rover),identifier(none,rearPosition),identifier(none,newOrientation)]),sets(none,[deferred_set(none,orientations),deferred_set(none,fieldTypes)])]),member(none,union(none,identifier(none,pathFromBaseStation),set_extension(none,[couple(none,[identifier(none,rover),function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])])])),relations(none,identifier(none,field),identifier(none,field))),[conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier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tifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])))))]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),forall(none,[identifier(none,'Pos')],implication(none,member(none,identifier(none,'Pos'),identifier(none,field)),forall(none,[identifier(none,x),identifier(none,y)],implication(none,truth(none),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,frontPosition))),member(none,identifier(none,frontPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation)))],[member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax))],true).
disprover_po('moveForward/inv17/INV',event_b_context(none,'DisproverContext',[axioms(none,[member(none,identifier(none,'pathsToInterestingFields\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,'B'),integer_set(none)),member(none,identifier(none,frontPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,occupiedFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,interestingFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,obstacles),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaInt),integer_set(none)),member(none,identifier(none,'L'),integer_set(none)),member(none,identifier(none,battery),integer_set(none)),member(none,identifier(none,'N'),identifier(none,orientations)),member(none,identifier(none,betaMin),integer_set(none)),member(none,identifier(none,'battery\''),integer_set(none)),member(none,identifier(none,'O'),identifier(none,orientations)),member(none,identifier(none,'freeFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'S'),identifier(none,orientations)),member(none,identifier(none,'betaMin\''),integer_set(none)),member(none,identifier(none,'interestingFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'pathFromBaseStation\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,freeFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'W'),identifier(none,orientations)),member(none,identifier(none,betaMax),integer_set(none)),member(none,identifier(none,'occupiedFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaMax),integer_set(none)),member(none,identifier(none,epsilonS),integer_set(none)),member(none,identifier(none,orientation),identifier(none,orientations)),member(none,identifier(none,pathsToInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,epsilonK),integer_set(none)),member(none,identifier(none,'Offset'),pow_subset(none,cartesian_product(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,sensorRange),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,pathFromBaseStation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,visibilityRange),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,field),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,radiation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),member(none,identifier(none,findInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,baseStation),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'rover\''),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rover),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rearPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,newOrientation),pow_subset(none,cartesian_product(none,identifier(none,orientations),identifier(none,orientations)))),conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])])])])])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])])])])])))))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),forall(none,[identifier(none,'Pos')],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]),forall(none,[identifier(none,x),identifier(none,y)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),member(none,identifier(none,y),integer_set(none))]),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,frontPosition))),member(none,identifier(none,frontPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation))),forall(none,[identifier(none,f)],implication(none,conjunct(none,[member(none,identifier(none,f),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,f),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,frontPosition))),member(none,identifier(none,frontPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,findInterestingFields))),member(none,identifier(none,findInterestingFields),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))])))]),constants(none,[identifier(none,'pathsToInterestingFields\''),identifier(none,'B'),identifier(none,frontPosition),identifier(none,occupiedFields),identifier(none,interestingFields),identifier(none,obstacles),identifier(none,alphaInt),identifier(none,'L'),identifier(none,battery),identifier(none,'N'),identifier(none,betaMin),identifier(none,'battery\''),identifier(none,'O'),identifier(none,'freeFields\''),identifier(none,initialOrientation),identifier(none,'S'),identifier(none,'betaMin\''),identifier(none,'interestingFields\''),identifier(none,'pathFromBaseStation\''),identifier(none,freeFields),identifier(none,'W'),identifier(none,betaMax),identifier(none,'occupiedFields\''),identifier(none,alphaMax),identifier(none,epsilonS),identifier(none,orientation),identifier(none,pathsToInterestingFields),identifier(none,epsilonK),identifier(none,'Offset'),identifier(none,sensorRange),identifier(none,pathFromBaseStation),identifier(none,visibilityRange),identifier(none,field),identifier(none,radiation),identifier(none,findInterestingFields),identifier(none,baseStation),identifier(none,'rover\''),identifier(none,rover),identifier(none,rearPosition),identifier(none,newOrientation)]),sets(none,[deferred_set(none,orientations),deferred_set(none,fieldTypes)])]),member(none,union(none,identifier(none,pathsToInterestingFields),event_b_comprehension_set(none,[identifier(none,f),identifier(none,path)],couple(none,[identifier(none,f),identifier(none,path)]),conjunct(none,[member(none,identifier(none,f),identifier(none,field)),member(none,identifier(none,f),function(none,identifier(none,findInterestingFields),[function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])])),member(none,identifier(none,path),relations(none,identifier(none,field),identifier(none,field))),equal(none,identifier(none,path),union(none,identifier(none,pathFromBaseStation),set_extension(none,[couple(none,[identifier(none,rover),function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])])])))]))),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),[conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])))))]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),forall(none,[identifier(none,'Pos')],implication(none,member(none,identifier(none,'Pos'),identifier(none,field)),forall(none,[identifier(none,x),identifier(none,y)],implication(none,truth(none),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,frontPosition))),member(none,identifier(none,frontPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation))),forall(none,[identifier(none,f)],implication(none,member(none,identifier(none,f),identifier(none,field)),conjunct(none,[member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,frontPosition))),member(none,identifier(none,frontPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,findInterestingFields))),member(none,identifier(none,findInterestingFields),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))])))],[member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax))],true).
disprover_po('moveForward/act31/WD',event_b_context(none,'DisproverContext',[axioms(none,[member(none,identifier(none,'pathsToInterestingFields\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,'B'),integer_set(none)),member(none,identifier(none,frontPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,occupiedFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,interestingFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,obstacles),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaInt),integer_set(none)),member(none,identifier(none,'L'),integer_set(none)),member(none,identifier(none,battery),integer_set(none)),member(none,identifier(none,'N'),identifier(none,orientations)),member(none,identifier(none,betaMin),integer_set(none)),member(none,identifier(none,'battery\''),integer_set(none)),member(none,identifier(none,'O'),identifier(none,orientations)),member(none,identifier(none,'freeFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'S'),identifier(none,orientations)),member(none,identifier(none,'betaMin\''),integer_set(none)),member(none,identifier(none,'interestingFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'pathFromBaseStation\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,freeFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'W'),identifier(none,orientations)),member(none,identifier(none,betaMax),integer_set(none)),member(none,identifier(none,'occupiedFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaMax),integer_set(none)),member(none,identifier(none,epsilonS),integer_set(none)),member(none,identifier(none,orientation),identifier(none,orientations)),member(none,identifier(none,pathsToInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,epsilonK),integer_set(none)),member(none,identifier(none,'Offset'),pow_subset(none,cartesian_product(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,sensorRange),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,pathFromBaseStation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,visibilityRange),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,field),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,radiation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),member(none,identifier(none,findInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,baseStation),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'rover\''),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rover),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rearPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,newOrientation),pow_subset(none,cartesian_product(none,identifier(none,orientations),identifier(none,orientations)))),conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])])])])])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])])])])])))))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),forall(none,[identifier(none,'Pos')],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]),forall(none,[identifier(none,x),identifier(none,y)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),member(none,identifier(none,y),integer_set(none))]),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,frontPosition))),member(none,identifier(none,frontPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation)))]),constants(none,[identifier(none,'pathsToInterestingFields\''),identifier(none,'B'),identifier(none,frontPosition),identifier(none,occupiedFields),identifier(none,interestingFields),identifier(none,obstacles),identifier(none,alphaInt),identifier(none,'L'),identifier(none,battery),identifier(none,'N'),identifier(none,betaMin),identifier(none,'battery\''),identifier(none,'O'),identifier(none,'freeFields\''),identifier(none,initialOrientation),identifier(none,'S'),identifier(none,'betaMin\''),identifier(none,'interestingFields\''),identifier(none,'pathFromBaseStation\''),identifier(none,freeFields),identifier(none,'W'),identifier(none,betaMax),identifier(none,'occupiedFields\''),identifier(none,alphaMax),identifier(none,epsilonS),identifier(none,orientation),identifier(none,pathsToInterestingFields),identifier(none,epsilonK),identifier(none,'Offset'),identifier(none,sensorRange),identifier(none,pathFromBaseStation),identifier(none,visibilityRange),identifier(none,field),identifier(none,radiation),identifier(none,findInterestingFields),identifier(none,baseStation),identifier(none,'rover\''),identifier(none,rover),identifier(none,rearPosition),identifier(none,newOrientation)]),sets(none,[deferred_set(none,orientations),deferred_set(none,fieldTypes)])]),conjunct(none,[member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,frontPosition))),member(none,identifier(none,frontPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,findInterestingFields))),member(none,identifier(none,findInterestingFields),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))]),[conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])))))]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),forall(none,[identifier(none,'Pos')],implication(none,member(none,identifier(none,'Pos'),identifier(none,field)),forall(none,[identifier(none,x),identifier(none,y)],implication(none,truth(none),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,frontPosition))),member(none,identifier(none,frontPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation)))],[member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax))],true).
disprover_po('moveForward/act32/WD',event_b_context(none,'DisproverContext',[axioms(none,[member(none,identifier(none,'pathsToInterestingFields\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,'B'),integer_set(none)),member(none,identifier(none,frontPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,occupiedFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,interestingFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,obstacles),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaInt),integer_set(none)),member(none,identifier(none,'L'),integer_set(none)),member(none,identifier(none,battery),integer_set(none)),member(none,identifier(none,'N'),identifier(none,orientations)),member(none,identifier(none,betaMin),integer_set(none)),member(none,identifier(none,'battery\''),integer_set(none)),member(none,identifier(none,'O'),identifier(none,orientations)),member(none,identifier(none,'freeFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'S'),identifier(none,orientations)),member(none,identifier(none,'betaMin\''),integer_set(none)),member(none,identifier(none,'interestingFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'pathFromBaseStation\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,freeFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'W'),identifier(none,orientations)),member(none,identifier(none,betaMax),integer_set(none)),member(none,identifier(none,'occupiedFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaMax),integer_set(none)),member(none,identifier(none,epsilonS),integer_set(none)),member(none,identifier(none,orientation),identifier(none,orientations)),member(none,identifier(none,pathsToInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,epsilonK),integer_set(none)),member(none,identifier(none,'Offset'),pow_subset(none,cartesian_product(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,sensorRange),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,pathFromBaseStation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,visibilityRange),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,field),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,radiation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),member(none,identifier(none,findInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,baseStation),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'rover\''),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rover),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rearPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,newOrientation),pow_subset(none,cartesian_product(none,identifier(none,orientations),identifier(none,orientations)))),conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])])])])])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])])])])])))))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),forall(none,[identifier(none,'Pos')],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]),forall(none,[identifier(none,x),identifier(none,y)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),member(none,identifier(none,y),integer_set(none))]),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,frontPosition))),member(none,identifier(none,frontPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation)))]),constants(none,[identifier(none,'pathsToInterestingFields\''),identifier(none,'B'),identifier(none,frontPosition),identifier(none,occupiedFields),identifier(none,interestingFields),identifier(none,obstacles),identifier(none,alphaInt),identifier(none,'L'),identifier(none,battery),identifier(none,'N'),identifier(none,betaMin),identifier(none,'battery\''),identifier(none,'O'),identifier(none,'freeFields\''),identifier(none,initialOrientation),identifier(none,'S'),identifier(none,'betaMin\''),identifier(none,'interestingFields\''),identifier(none,'pathFromBaseStation\''),identifier(none,freeFields),identifier(none,'W'),identifier(none,betaMax),identifier(none,'occupiedFields\''),identifier(none,alphaMax),identifier(none,epsilonS),identifier(none,orientation),identifier(none,pathsToInterestingFields),identifier(none,epsilonK),identifier(none,'Offset'),identifier(none,sensorRange),identifier(none,pathFromBaseStation),identifier(none,visibilityRange),identifier(none,field),identifier(none,radiation),identifier(none,findInterestingFields),identifier(none,baseStation),identifier(none,'rover\''),identifier(none,rover),identifier(none,rearPosition),identifier(none,newOrientation)]),sets(none,[deferred_set(none,orientations),deferred_set(none,fieldTypes)])]),conjunct(none,[member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,frontPosition))),member(none,identifier(none,frontPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))]),[conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),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)]))])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])))))]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),forall(none,[identifier(none,'Pos')],implication(none,member(none,identifier(none,'Pos'),identifier(none,field)),forall(none,[identifier(none,x),identifier(none,y)],implication(none,truth(none),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,frontPosition))),member(none,identifier(none,frontPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation)))],[member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax))],true).
disprover_po('moveForward/act33/WD',event_b_context(none,'DisproverContext',[axioms(none,[member(none,identifier(none,'pathsToInterestingFields\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,'B'),integer_set(none)),member(none,identifier(none,frontPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,occupiedFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,interestingFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,obstacles),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaInt),integer_set(none)),member(none,identifier(none,'L'),integer_set(none)),member(none,identifier(none,battery),integer_set(none)),member(none,identifier(none,'N'),identifier(none,orientations)),member(none,identifier(none,betaMin),integer_set(none)),member(none,identifier(none,'battery\''),integer_set(none)),member(none,identifier(none,'O'),identifier(none,orientations)),member(none,identifier(none,'freeFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'S'),identifier(none,orientations)),member(none,identifier(none,'betaMin\''),integer_set(none)),member(none,identifier(none,'interestingFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'pathFromBaseStation\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,freeFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'W'),identifier(none,orientations)),member(none,identifier(none,betaMax),integer_set(none)),member(none,identifier(none,'occupiedFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaMax),integer_set(none)),member(none,identifier(none,epsilonS),integer_set(none)),member(none,identifier(none,orientation),identifier(none,orientations)),member(none,identifier(none,pathsToInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,epsilonK),integer_set(none)),member(none,identifier(none,'Offset'),pow_subset(none,cartesian_product(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,sensorRange),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,pathFromBaseStation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,visibilityRange),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,field),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,radiation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),member(none,identifier(none,findInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,baseStation),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'rover\''),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rover),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rearPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,newOrientation),pow_subset(none,cartesian_product(none,identifier(none,orientations),identifier(none,orientations)))),conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])])])])])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])])])])])))))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),forall(none,[identifier(none,'Pos')],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]),forall(none,[identifier(none,x),identifier(none,y)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),member(none,identifier(none,y),integer_set(none))]),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,frontPosition))),member(none,identifier(none,frontPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation)))]),constants(none,[identifier(none,'pathsToInterestingFields\''),identifier(none,'B'),identifier(none,frontPosition),identifier(none,occupiedFields),identifier(none,interestingFields),identifier(none,obstacles),identifier(none,alphaInt),identifier(none,'L'),identifier(none,battery),identifier(none,'N'),identifier(none,betaMin),identifier(none,'battery\''),identifier(none,'O'),identifier(none,'freeFields\''),identifier(none,initialOrientation),identifier(none,'S'),identifier(none,'betaMin\''),identifier(none,'interestingFields\''),identifier(none,'pathFromBaseStation\''),identifier(none,freeFields),identifier(none,'W'),identifier(none,betaMax),identifier(none,'occupiedFields\''),identifier(none,alphaMax),identifier(none,epsilonS),identifier(none,orientation),identifier(none,pathsToInterestingFields),identifier(none,epsilonK),identifier(none,'Offset'),identifier(none,sensorRange),identifier(none,pathFromBaseStation),identifier(none,visibilityRange),identifier(none,field),identifier(none,radiation),identifier(none,findInterestingFields),identifier(none,baseStation),identifier(none,'rover\''),identifier(none,rover),identifier(none,rearPosition),identifier(none,newOrientation)]),sets(none,[deferred_set(none,orientations),deferred_set(none,fieldTypes)])]),forall(none,[identifier(none,f)],implication(none,member(none,identifier(none,f),identifier(none,field)),conjunct(none,[member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,frontPosition))),member(none,identifier(none,frontPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,findInterestingFields))),member(none,identifier(none,findInterestingFields),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))]))),[conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])))))]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),forall(none,[identifier(none,'Pos')],implication(none,member(none,identifier(none,'Pos'),identifier(none,field)),forall(none,[identifier(none,x),identifier(none,y)],implication(none,truth(none),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,frontPosition))),member(none,identifier(none,frontPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation)))],[member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,frontPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax))],true).
disprover_po('moveBackward/grd31/WD',event_b_context(none,'DisproverContext',[axioms(none,[member(none,identifier(none,'pathsToInterestingFields\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,'B'),integer_set(none)),member(none,identifier(none,frontPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,occupiedFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,interestingFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,obstacles),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaInt),integer_set(none)),member(none,identifier(none,'L'),integer_set(none)),member(none,identifier(none,battery),integer_set(none)),member(none,identifier(none,'N'),identifier(none,orientations)),member(none,identifier(none,betaMin),integer_set(none)),member(none,identifier(none,'battery\''),integer_set(none)),member(none,identifier(none,'O'),identifier(none,orientations)),member(none,identifier(none,'freeFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'S'),identifier(none,orientations)),member(none,identifier(none,'betaMin\''),integer_set(none)),member(none,identifier(none,'interestingFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'pathFromBaseStation\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,freeFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'W'),identifier(none,orientations)),member(none,identifier(none,betaMax),integer_set(none)),member(none,identifier(none,'occupiedFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaMax),integer_set(none)),member(none,identifier(none,epsilonS),integer_set(none)),member(none,identifier(none,orientation),identifier(none,orientations)),member(none,identifier(none,pathsToInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,epsilonK),integer_set(none)),member(none,identifier(none,'Offset'),pow_subset(none,cartesian_product(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,sensorRange),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,pathFromBaseStation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,visibilityRange),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,field),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,radiation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),member(none,identifier(none,findInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,baseStation),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'rover\''),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rover),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rearPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,newOrientation),pow_subset(none,cartesian_product(none,identifier(none,orientations),identifier(none,orientations)))),conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])])])])])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])])])])])))))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),forall(none,[identifier(none,'Pos')],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]),forall(none,[identifier(none,x),identifier(none,y)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),member(none,identifier(none,y),integer_set(none))]),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,rearPosition))),member(none,identifier(none,rearPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields))]),constants(none,[identifier(none,'pathsToInterestingFields\''),identifier(none,'B'),identifier(none,frontPosition),identifier(none,occupiedFields),identifier(none,interestingFields),identifier(none,obstacles),identifier(none,alphaInt),identifier(none,'L'),identifier(none,battery),identifier(none,'N'),identifier(none,betaMin),identifier(none,'battery\''),identifier(none,'O'),identifier(none,'freeFields\''),identifier(none,initialOrientation),identifier(none,'S'),identifier(none,'betaMin\''),identifier(none,'interestingFields\''),identifier(none,'pathFromBaseStation\''),identifier(none,freeFields),identifier(none,'W'),identifier(none,betaMax),identifier(none,'occupiedFields\''),identifier(none,alphaMax),identifier(none,epsilonS),identifier(none,orientation),identifier(none,pathsToInterestingFields),identifier(none,epsilonK),identifier(none,'Offset'),identifier(none,sensorRange),identifier(none,pathFromBaseStation),identifier(none,visibilityRange),identifier(none,field),identifier(none,radiation),identifier(none,findInterestingFields),identifier(none,baseStation),identifier(none,'rover\''),identifier(none,rover),identifier(none,rearPosition),identifier(none,newOrientation)]),sets(none,[deferred_set(none,orientations),deferred_set(none,fieldTypes)])]),conjunct(none,[member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,rearPosition))),member(none,identifier(none,rearPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]),[conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])))))]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),forall(none,[identifier(none,'Pos')],implication(none,member(none,identifier(none,'Pos'),identifier(none,field)),forall(none,[identifier(none,x),identifier(none,y)],implication(none,truth(none),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,rearPosition))),member(none,identifier(none,rearPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields))],[member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields))],true).
disprover_po('moveBackward/inv14/INV',event_b_context(none,'DisproverContext',[axioms(none,[member(none,identifier(none,'pathsToInterestingFields\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,'B'),integer_set(none)),member(none,identifier(none,frontPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,occupiedFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,interestingFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,obstacles),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaInt),integer_set(none)),member(none,identifier(none,'L'),integer_set(none)),member(none,identifier(none,battery),integer_set(none)),member(none,identifier(none,'N'),identifier(none,orientations)),member(none,identifier(none,betaMin),integer_set(none)),member(none,identifier(none,'battery\''),integer_set(none)),member(none,identifier(none,'O'),identifier(none,orientations)),member(none,identifier(none,'freeFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'S'),identifier(none,orientations)),member(none,identifier(none,'betaMin\''),integer_set(none)),member(none,identifier(none,'interestingFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'pathFromBaseStation\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,freeFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'W'),identifier(none,orientations)),member(none,identifier(none,betaMax),integer_set(none)),member(none,identifier(none,'occupiedFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaMax),integer_set(none)),member(none,identifier(none,epsilonS),integer_set(none)),member(none,identifier(none,orientation),identifier(none,orientations)),member(none,identifier(none,pathsToInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,epsilonK),integer_set(none)),member(none,identifier(none,'Offset'),pow_subset(none,cartesian_product(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,sensorRange),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,pathFromBaseStation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,visibilityRange),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,field),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,radiation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),member(none,identifier(none,findInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,baseStation),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'rover\''),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rover),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rearPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,newOrientation),pow_subset(none,cartesian_product(none,identifier(none,orientations),identifier(none,orientations)))),conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])])])])])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])])])])])))))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),forall(none,[identifier(none,'Pos')],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]),forall(none,[identifier(none,x),identifier(none,y)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),member(none,identifier(none,y),integer_set(none))]),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,rearPosition))),member(none,identifier(none,rearPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation)))]),constants(none,[identifier(none,'pathsToInterestingFields\''),identifier(none,'B'),identifier(none,frontPosition),identifier(none,occupiedFields),identifier(none,interestingFields),identifier(none,obstacles),identifier(none,alphaInt),identifier(none,'L'),identifier(none,battery),identifier(none,'N'),identifier(none,betaMin),identifier(none,'battery\''),identifier(none,'O'),identifier(none,'freeFields\''),identifier(none,initialOrientation),identifier(none,'S'),identifier(none,'betaMin\''),identifier(none,'interestingFields\''),identifier(none,'pathFromBaseStation\''),identifier(none,freeFields),identifier(none,'W'),identifier(none,betaMax),identifier(none,'occupiedFields\''),identifier(none,alphaMax),identifier(none,epsilonS),identifier(none,orientation),identifier(none,pathsToInterestingFields),identifier(none,epsilonK),identifier(none,'Offset'),identifier(none,sensorRange),identifier(none,pathFromBaseStation),identifier(none,visibilityRange),identifier(none,field),identifier(none,radiation),identifier(none,findInterestingFields),identifier(none,baseStation),identifier(none,'rover\''),identifier(none,rover),identifier(none,rearPosition),identifier(none,newOrientation)]),sets(none,[deferred_set(none,orientations),deferred_set(none,fieldTypes)])]),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),[conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])))))]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),forall(none,[identifier(none,'Pos')],implication(none,member(none,identifier(none,'Pos'),identifier(none,field)),forall(none,[identifier(none,x),identifier(none,y)],implication(none,truth(none),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,rearPosition))),member(none,identifier(none,rearPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation)))],[less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax))],true).
disprover_po('moveBackward/inv15/INV',event_b_context(none,'DisproverContext',[axioms(none,[member(none,identifier(none,'pathsToInterestingFields\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,'B'),integer_set(none)),member(none,identifier(none,frontPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,occupiedFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,interestingFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,obstacles),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaInt),integer_set(none)),member(none,identifier(none,'L'),integer_set(none)),member(none,identifier(none,battery),integer_set(none)),member(none,identifier(none,'N'),identifier(none,orientations)),member(none,identifier(none,betaMin),integer_set(none)),member(none,identifier(none,'battery\''),integer_set(none)),member(none,identifier(none,'O'),identifier(none,orientations)),member(none,identifier(none,'freeFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'S'),identifier(none,orientations)),member(none,identifier(none,'betaMin\''),integer_set(none)),member(none,identifier(none,'interestingFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'pathFromBaseStation\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,freeFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'W'),identifier(none,orientations)),member(none,identifier(none,betaMax),integer_set(none)),member(none,identifier(none,'occupiedFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaMax),integer_set(none)),member(none,identifier(none,epsilonS),integer_set(none)),member(none,identifier(none,orientation),identifier(none,orientations)),member(none,identifier(none,pathsToInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,epsilonK),integer_set(none)),member(none,identifier(none,'Offset'),pow_subset(none,cartesian_product(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,sensorRange),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,pathFromBaseStation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,visibilityRange),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,field),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,radiation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),member(none,identifier(none,findInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,baseStation),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'rover\''),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rover),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rearPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,newOrientation),pow_subset(none,cartesian_product(none,identifier(none,orientations),identifier(none,orientations)))),conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])])])])])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])])])])])))))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),forall(none,[identifier(none,'Pos')],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]),forall(none,[identifier(none,x),identifier(none,y)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),member(none,identifier(none,y),integer_set(none))]),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,rearPosition))),member(none,identifier(none,rearPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,findInterestingFields))),member(none,identifier(none,findInterestingFields),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))]),constants(none,[identifier(none,'pathsToInterestingFields\''),identifier(none,'B'),identifier(none,frontPosition),identifier(none,occupiedFields),identifier(none,interestingFields),identifier(none,obstacles),identifier(none,alphaInt),identifier(none,'L'),identifier(none,battery),identifier(none,'N'),identifier(none,betaMin),identifier(none,'battery\''),identifier(none,'O'),identifier(none,'freeFields\''),identifier(none,initialOrientation),identifier(none,'S'),identifier(none,'betaMin\''),identifier(none,'interestingFields\''),identifier(none,'pathFromBaseStation\''),identifier(none,freeFields),identifier(none,'W'),identifier(none,betaMax),identifier(none,'occupiedFields\''),identifier(none,alphaMax),identifier(none,epsilonS),identifier(none,orientation),identifier(none,pathsToInterestingFields),identifier(none,epsilonK),identifier(none,'Offset'),identifier(none,sensorRange),identifier(none,pathFromBaseStation),identifier(none,visibilityRange),identifier(none,field),identifier(none,radiation),identifier(none,findInterestingFields),identifier(none,baseStation),identifier(none,'rover\''),identifier(none,rover),identifier(none,rearPosition),identifier(none,newOrientation)]),sets(none,[deferred_set(none,orientations),deferred_set(none,fieldTypes)])]),subset(none,union(none,identifier(none,interestingFields),function(none,identifier(none,findInterestingFields),[function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])])),identifier(none,field)),[conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])))))]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none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nterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),forall(none,[identifier(none,'Pos')],implication(none,member(none,identifier(none,'Pos'),identifier(none,field)),forall(none,[identifier(none,x),identifier(none,y)],implication(none,truth(none),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,rearPosition))),member(none,identifier(none,rearPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,findInterestingFields))),member(none,identifier(none,findInterestingFields),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))],[subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax))],true).
disprover_po('moveBackward/inv16/INV',event_b_context(none,'DisproverContext',[axioms(none,[member(none,identifier(none,'pathsToInterestingFields\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,'B'),integer_set(none)),member(none,identifier(none,frontPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,occupiedFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,interestingFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,obstacles),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaInt),integer_set(none)),member(none,identifier(none,'L'),integer_set(none)),member(none,identifier(none,battery),integer_set(none)),member(none,identifier(none,'N'),identifier(none,orientations)),member(none,identifier(none,betaMin),integer_set(none)),member(none,identifier(none,'battery\''),integer_set(none)),member(none,identifier(none,'O'),identifier(none,orientations)),member(none,identifier(none,'freeFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'S'),identifier(none,orientations)),member(none,identifier(none,'betaMin\''),integer_set(none)),member(none,identifier(none,'interestingFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'pathFromBaseStation\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,freeFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'W'),identifier(none,orientations)),member(none,identifier(none,betaMax),integer_set(none)),member(none,identifier(none,'occupiedFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaMax),integer_set(none)),member(none,identifier(none,epsilonS),integer_set(none)),member(none,identifier(none,orientation),identifier(none,orientations)),member(none,identifier(none,pathsToInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,epsilonK),integer_set(none)),member(none,identifier(none,'Offset'),pow_subset(none,cartesian_product(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,sensorRange),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,pathFromBaseStation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,visibilityRange),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,field),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,radiation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),member(none,identifier(none,findInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,baseStation),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'rover\''),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rover),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rearPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,newOrientation),pow_subset(none,cartesian_product(none,identifier(none,orientations),identifier(none,orientations)))),conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])])])])])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])])])])])))))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),forall(none,[identifier(none,'Pos')],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]),forall(none,[identifier(none,x),identifier(none,y)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),member(none,identifier(none,y),integer_set(none))]),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,rearPosition))),member(none,identifier(none,rearPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation)))]),constants(none,[identifier(none,'pathsToInterestingFields\''),identifier(none,'B'),identifier(none,frontPosition),identifier(none,occupiedFields),identifier(none,interestingFields),identifier(none,obstacles),identifier(none,alphaInt),identifier(none,'L'),identifier(none,battery),identifier(none,'N'),identifier(none,betaMin),identifier(none,'battery\''),identifier(none,'O'),identifier(none,'freeFields\''),identifier(none,initialOrientation),identifier(none,'S'),identifier(none,'betaMin\''),identifier(none,'interestingFields\''),identifier(none,'pathFromBaseStation\''),identifier(none,freeFields),identifier(none,'W'),identifier(none,betaMax),identifier(none,'occupiedFields\''),identifier(none,alphaMax),identifier(none,epsilonS),identifier(none,orientation),identifier(none,pathsToInterestingFields),identifier(none,epsilonK),identifier(none,'Offset'),identifier(none,sensorRange),identifier(none,pathFromBaseStation),identifier(none,visibilityRange),identifier(none,field),identifier(none,radiation),identifier(none,findInterestingFields),identifier(none,baseStation),identifier(none,'rover\''),identifier(none,rover),identifier(none,rearPosition),identifier(none,newOrientation)]),sets(none,[deferred_set(none,orientations),deferred_set(none,fieldTypes)])]),member(none,union(none,identifier(none,pathFromBaseStation),set_extension(none,[couple(none,[identifier(none,rover),function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])])])),relations(none,identifier(none,field),identifier(none,field))),[conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])))))]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),forall(none,[identifier(none,'Pos')],implication(none,member(none,identifier(none,'Pos'),identifier(none,field)),forall(none,[identifier(none,x),identifier(none,y)],implication(none,truth(none),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,rearPosition))),member(none,identifier(none,rearPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation)))],[member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax))],true).
disprover_po('moveBackward/inv17/INV',event_b_context(none,'DisproverContext',[axioms(none,[member(none,identifier(none,'pathsToInterestingFields\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,'B'),integer_set(none)),member(none,identifier(none,frontPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,occupiedFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,interestingFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,obstacles),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaInt),integer_set(none)),member(none,identifier(none,'L'),integer_set(none)),member(none,identifier(none,battery),integer_set(none)),member(none,identifier(none,'N'),identifier(none,orientations)),member(none,identifier(none,betaMin),integer_set(none)),member(none,identifier(none,'battery\''),integer_set(none)),member(none,identifier(none,'O'),identifier(none,orientations)),member(none,identifier(none,'freeFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'S'),identifier(none,orientations)),member(none,identifier(none,'betaMin\''),integer_set(none)),member(none,identifier(none,'interestingFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'pathFromBaseStation\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,freeFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'W'),identifier(none,orientations)),member(none,identifier(none,betaMax),integer_set(none)),member(none,identifier(none,'occupiedFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaMax),integer_set(none)),member(none,identifier(none,epsilonS),integer_set(none)),member(none,identifier(none,orientation),identifier(none,orientations)),member(none,identifier(none,pathsToInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,epsilonK),integer_set(none)),member(none,identifier(none,'Offset'),pow_subset(none,cartesian_product(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,sensorRange),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,pathFromBaseStation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,visibilityRange),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,field),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,radiation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),member(none,identifier(none,findInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,baseStation),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'rover\''),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rover),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rearPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,newOrientation),pow_subset(none,cartesian_product(none,identifier(none,orientations),identifier(none,orientations)))),conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])])])])])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])])])])])))))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),forall(none,[identifier(none,'Pos')],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]),forall(none,[identifier(none,x),identifier(none,y)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),member(none,identifier(none,y),integer_set(none))]),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,rearPosition))),member(none,identifier(none,rearPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation))),forall(none,[identifier(none,f)],implication(none,conjunct(none,[member(none,identifier(none,f),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,f),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,rearPosition))),member(none,identifier(none,rearPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,findInterestingFields))),member(none,identifier(none,findInterestingFields),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))])))]),constants(none,[identifier(none,'pathsToInterestingFields\''),identifier(none,'B'),identifier(none,frontPosition),identifier(none,occupiedFields),identifier(none,interestingFields),identifier(none,obstacles),identifier(none,alphaInt),identifier(none,'L'),identifier(none,battery),identifier(none,'N'),identifier(none,betaMin),identifier(none,'battery\''),identifier(none,'O'),identifier(none,'freeFields\''),identifier(none,initialOrientation),identifier(none,'S'),identifier(none,'betaMin\''),identifier(none,'interestingFields\''),identifier(none,'pathFromBaseStation\''),identifier(none,freeFields),identifier(none,'W'),identifier(none,betaMax),identifier(none,'occupiedFields\''),identifier(none,alphaMax),identifier(none,epsilonS),identifier(none,orientation),identifier(none,pathsToInterestingFields),identifier(none,epsilonK),identifier(none,'Offset'),identifier(none,sensorRange),identifier(none,pathFromBaseStation),identifier(none,visibilityRange),identifier(none,field),identifier(none,radiation),identifier(none,findInterestingFields),identifier(none,baseStation),identifier(none,'rover\''),identifier(none,rover),identifier(none,rearPosition),identifier(none,newOrientation)]),sets(none,[deferred_set(none,orientations),deferred_set(none,fieldTypes)])]),member(none,union(none,identifier(none,pathsToInterestingFields),event_b_comprehension_set(none,[identifier(none,f),identifier(none,path)],couple(none,[identifier(none,f),identifier(none,path)]),conjunct(none,[member(none,identifier(none,f),identifier(none,field)),member(none,identifier(none,f),function(none,identifier(none,findInterestingFields),[function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])])),member(none,identifier(none,path),relations(none,identifier(none,field),identifier(none,field))),equal(none,identifier(none,path),union(none,identifier(none,pathFromBaseStation),set_extension(none,[couple(none,[identifier(none,rover),function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])])])))]))),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),[conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[i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,integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])))))]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),forall(none,[identifier(none,'Pos')],implication(none,member(none,identifier(none,'Pos'),identifier(none,field)),forall(none,[identifier(none,x),identifier(none,y)],implication(none,truth(none),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,rearPosition))),member(none,identifier(none,rearPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation))),forall(none,[identifier(none,f)],implication(none,member(none,identifier(none,f),identifier(none,field)),conjunct(none,[member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,rearPosition))),member(none,identifier(none,rearPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,findInterestingFields))),member(none,identifier(none,findInterestingFields),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))])))],[member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax))],true).
disprover_po('moveBackward/act31/WD',event_b_context(none,'DisproverContext',[axioms(none,[member(none,identifier(none,'pathsToInterestingFields\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,'B'),integer_set(none)),member(none,identifier(none,frontPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,occupiedFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,interestingFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,obstacles),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaInt),integer_set(none)),member(none,identifier(none,'L'),integer_set(none)),member(none,identifier(none,battery),integer_set(none)),member(none,identifier(none,'N'),identifier(none,orientations)),member(none,identifier(none,betaMin),integer_set(none)),member(none,identifier(none,'battery\''),integer_set(none)),member(none,identifier(none,'O'),identifier(none,orientations)),member(none,identifier(none,'freeFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'S'),identifier(none,orientations)),member(none,identifier(none,'betaMin\''),integer_set(none)),member(none,identifier(none,'interestingFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'pathFromBaseStation\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,freeFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'W'),identifier(none,orientations)),member(none,identifier(none,betaMax),integer_set(none)),member(none,identifier(none,'occupiedFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaMax),integer_set(none)),member(none,identifier(none,epsilonS),integer_set(none)),member(none,identifier(none,orientation),identifier(none,orientations)),member(none,identifier(none,pathsToInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,epsilonK),integer_set(none)),member(none,identifier(none,'Offset'),pow_subset(none,cartesian_product(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,sensorRange),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,pathFromBaseStation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,visibilityRange),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,field),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,radiation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),member(none,identifier(none,findInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,baseStation),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'rover\''),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rover),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rearPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,newOrientation),pow_subset(none,cartesian_product(none,identifier(none,orientations),identifier(none,orientations)))),conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])])])])])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])])])])])))))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),forall(none,[identifier(none,'Pos')],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]),forall(none,[identifier(none,x),identifier(none,y)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),member(none,identifier(none,y),integer_set(none))]),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,rearPosition))),member(none,identifier(none,rearPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation)))]),constants(none,[identifier(none,'pathsToInterestingFields\''),identifier(none,'B'),identifier(none,frontPosition),identifier(none,occupiedFields),identifier(none,interestingFields),identifier(none,obstacles),identifier(none,alphaInt),identifier(none,'L'),identifier(none,battery),identifier(none,'N'),identifier(none,betaMin),identifier(none,'battery\''),identifier(none,'O'),identifier(none,'freeFields\''),identifier(none,initialOrientation),identifier(none,'S'),identifier(none,'betaMin\''),identifier(none,'interestingFields\''),identifier(none,'pathFromBaseStation\''),identifier(none,freeFields),identifier(none,'W'),identifier(none,betaMax),identifier(none,'occupiedFields\''),identifier(none,alphaMax),identifier(none,epsilonS),identifier(none,orientation),identifier(none,pathsToInterestingFields),identifier(none,epsilonK),identifier(none,'Offset'),identifier(none,sensorRange),identifier(none,pathFromBaseStation),identifier(none,visibilityRange),identifier(none,field),identifier(none,radiation),identifier(none,findInterestingFields),identifier(none,baseStation),identifier(none,'rover\''),identifier(none,rover),identifier(none,rearPosition),identifier(none,newOrientation)]),sets(none,[deferred_set(none,orientations),deferred_set(none,fieldTypes)])]),conjunct(none,[member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,rearPosition))),member(none,identifier(none,rearPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,findInterestingFields))),member(none,identifier(none,findInterestingFields),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))]),[conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])))))]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),forall(none,[identifier(none,'Pos')],implication(none,member(none,identifier(none,'Pos'),identifier(none,field)),forall(none,[identifier(none,x),identifier(none,y)],implication(none,truth(none),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,rearPosition))),member(none,identifier(none,rearPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation)))],[member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax))],true).
disprover_po('moveBackward/act32/WD',event_b_context(none,'DisproverContext',[axioms(none,[member(none,identifier(none,'pathsToInterestingFields\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,'B'),integer_set(none)),member(none,identifier(none,frontPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,occupiedFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,interestingFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,obstacles),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaInt),integer_set(none)),member(none,identifier(none,'L'),integer_set(none)),member(none,identifier(none,battery),integer_set(none)),member(none,identifier(none,'N'),identifier(none,orientations)),member(none,identifier(none,betaMin),integer_set(none)),member(none,identifier(none,'battery\''),integer_set(none)),member(none,identifier(none,'O'),identifier(none,orientations)),member(none,identifier(none,'freeFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'S'),identifier(none,orientations)),member(none,identifier(none,'betaMin\''),integer_set(none)),member(none,identifier(none,'interestingFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'pathFromBaseStation\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,freeFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'W'),identifier(none,orientations)),member(none,identifier(none,betaMax),integer_set(none)),member(none,identifier(none,'occupiedFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaMax),integer_set(none)),member(none,identifier(none,epsilonS),integer_set(none)),member(none,identifier(none,orientation),identifier(none,orientations)),member(none,identifier(none,pathsToInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,epsilonK),integer_set(none)),member(none,identifier(none,'Offset'),pow_subset(none,cartesian_product(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,sensorRange),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,pathFromBaseStation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,visibilityRange),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,field),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,radiation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),member(none,identifier(none,findInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,baseStation),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'rover\''),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rover),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rearPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,newOrientation),pow_subset(none,cartesian_product(none,identifier(none,orientations),identifier(none,orientations)))),conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])])])])])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])])])])])))))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),forall(none,[identifier(none,'Pos')],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]),forall(none,[identifier(none,x),identifier(none,y)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),member(none,identifier(none,y),integer_set(none))]),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,rearPosition))),member(none,identifier(none,rearPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation)))]),constants(none,[identifier(none,'pathsToInterestingFields\''),identifier(none,'B'),identifier(none,frontPosition),identifier(none,occupiedFields),identifier(none,interestingFields),identifier(none,obstacles),identifier(none,alphaInt),identifier(none,'L'),identifier(none,battery),identifier(none,'N'),identifier(none,betaMin),identifier(none,'battery\''),identifier(none,'O'),identifier(none,'freeFields\''),identifier(none,initialOrientation),identifier(none,'S'),identifier(none,'betaMin\''),identifier(none,'interestingFields\''),identifier(none,'pathFromBaseStation\''),identifier(none,freeFields),identifier(none,'W'),identifier(none,betaMax),identifier(none,'occupiedFields\''),identifier(none,alphaMax),identifier(none,epsilonS),identifier(none,orientation),identifier(none,pathsToInterestingFields),identifier(none,epsilonK),identifier(none,'Offset'),identifier(none,sensorRange),identifier(none,pathFromBaseStation),identifier(none,visibilityRange),identifier(none,field),identifier(none,radiation),identifier(none,findInterestingFields),identifier(none,baseStation),identifier(none,'rover\''),identifier(none,rover),identifier(none,rearPosition),identifier(none,newOrientation)]),sets(none,[deferred_set(none,orientations),deferred_set(none,fieldTypes)])]),conjunct(none,[member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,rearPosition))),member(none,identifier(none,rearPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))]),[conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])))))]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),forall(none,[identifier(none,'Pos')],implication(none,member(none,identifier(none,'Pos'),identifier(none,field)),forall(none,[identifier(none,x),identifier(none,y)],implication(none,truth(none),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,rearPosition))),member(none,identifier(none,rearPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation)))],[member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax))],true).
disprover_po('moveBackward/act33/WD',event_b_context(none,'DisproverContext',[axioms(none,[member(none,identifier(none,'pathsToInterestingFields\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,'B'),integer_set(none)),member(none,identifier(none,frontPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,occupiedFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,interestingFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,obstacles),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaInt),integer_set(none)),member(none,identifier(none,'L'),integer_set(none)),member(none,identifier(none,battery),integer_set(none)),member(none,identifier(none,'N'),identifier(none,orientations)),member(none,identifier(none,betaMin),integer_set(none)),member(none,identifier(none,'battery\''),integer_set(none)),member(none,identifier(none,'O'),identifier(none,orientations)),member(none,identifier(none,'freeFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'S'),identifier(none,orientations)),member(none,identifier(none,'betaMin\''),integer_set(none)),member(none,identifier(none,'interestingFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'pathFromBaseStation\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,freeFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'W'),identifier(none,orientations)),member(none,identifier(none,betaMax),integer_set(none)),member(none,identifier(none,'occupiedFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaMax),integer_set(none)),member(none,identifier(none,epsilonS),integer_set(none)),member(none,identifier(none,orientation),identifier(none,orientations)),member(none,identifier(none,pathsToInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,epsilonK),integer_set(none)),member(none,identifier(none,'Offset'),pow_subset(none,cartesian_product(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,sensorRange),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,pathFromBaseStation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,visibilityRange),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,field),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,radiation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),member(none,identifier(none,findInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,baseStation),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'rover\''),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rover),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rearPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,newOrientation),pow_subset(none,cartesian_product(none,identifier(none,orientations),identifier(none,orientations)))),conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])])])])])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])])])])])))))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),forall(none,[identifier(none,'Pos')],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]),forall(none,[identifier(none,x),identifier(none,y)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),member(none,identifier(none,y),integer_set(none))]),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,rearPosition))),member(none,identifier(none,rearPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation)))]),constants(none,[identifier(none,'pathsToInterestingFields\''),identifier(none,'B'),identifier(none,frontPosition),identifier(none,occupiedFields),identifier(none,interestingFields),identifier(none,obstacles),identifier(none,alphaInt),identifier(none,'L'),identifier(none,battery),identifier(none,'N'),identifier(none,betaMin),identifier(none,'battery\''),identifier(none,'O'),identifier(none,'freeFields\''),identifier(none,initialOrientation),identifier(none,'S'),identifier(none,'betaMin\''),identifier(none,'interestingFields\''),identifier(none,'pathFromBaseStation\''),identifier(none,freeFields),identifier(none,'W'),identifier(none,betaMax),identifier(none,'occupiedFields\''),identifier(none,alphaMax),identifier(none,epsilonS),identifier(none,orientation),identifier(none,pathsToInterestingFields),identifier(none,epsilonK),identifier(none,'Offset'),identifier(none,sensorRange),identifier(none,pathFromBaseStation),identifier(none,visibilityRange),identifier(none,field),identifier(none,radiation),identifier(none,findInterestingFields),identifier(none,baseStation),identifier(none,'rover\''),identifier(none,rover),identifier(none,rearPosition),identifier(none,newOrientation)]),sets(none,[deferred_set(none,orientations),deferred_set(none,fieldTypes)])]),forall(none,[identifier(none,f)],implication(none,member(none,identifier(none,f),identifier(none,field)),conjunct(none,[member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,rearPosition))),member(none,identifier(none,rearPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,findInterestingFields))),member(none,identifier(none,findInterestingFields),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))]))),[conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])))))]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),forall(none,[identifier(none,'Pos')],implication(none,member(none,identifier(none,'Pos'),identifier(none,field)),forall(none,[identifier(none,x),identifier(none,y)],implication(none,truth(none),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),member(none,couple(none,[identifier(none,rover),identifier(none,orientation)]),domain(none,identifier(none,rearPosition))),member(none,identifier(none,rearPosition),partial_function(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none)))),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax)),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),domain(none,identifier(none,radiation)))],[member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,field)),greater(none,identifier(none,battery),integer(none,1)),implication(none,equal(none,identifier(none,rover),identifier(none,baseStation)),equal(none,identifier(none,battery),identifier(none,betaMax))),less(none,identifier(none,betaMin),minus(none,identifier(none,battery),integer(none,1))),member(none,function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])]),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[function(none,identifier(none,rearPosition),[couple(none,[identifier(none,rover),identifier(none,orientation)])])]),identifier(none,alphaMax))],true).
disprover_po('returnToBase/inv14/INV',event_b_context(none,'DisproverContext',[axioms(none,[member(none,identifier(none,'B'),integer_set(none)),member(none,identifier(none,frontPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,occupiedFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,interestingFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,obstacles),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaInt),integer_set(none)),member(none,identifier(none,'L'),integer_set(none)),member(none,identifier(none,battery),integer_set(none)),member(none,identifier(none,'N'),identifier(none,orientations)),member(none,identifier(none,betaMin),integer_set(none)),member(none,identifier(none,'O'),identifier(none,orientations)),member(none,identifier(none,'freeFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'S'),identifier(none,orientations)),member(none,identifier(none,'pathFromBaseStation\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,freeFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'W'),identifier(none,orientations)),member(none,identifier(none,betaMax),integer_set(none)),member(none,identifier(none,'occupiedFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaMax),integer_set(none)),member(none,identifier(none,epsilonS),integer_set(none)),member(none,identifier(none,orientation),identifier(none,orientations)),member(none,identifier(none,pathsToInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,epsilonK),integer_set(none)),member(none,identifier(none,'Offset'),pow_subset(none,cartesian_product(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,sensorRange),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,pathFromBaseStation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,visibilityRange),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,field),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,radiation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),member(none,identifier(none,findInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,baseStation),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'rover\''),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rover),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rearPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,newOrientation),pow_subset(none,cartesian_product(none,identifier(none,orientations),identifier(none,orientations)))),conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])])])])])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])])])])])))))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(no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ion),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),forall(none,[identifier(none,'Pos')],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]),forall(none,[identifier(none,x),identifier(none,y)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),member(none,identifier(none,y),integer_set(none))]),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),not_equal(none,identifier(none,rover),identifier(none,baseStation))]),constants(none,[identifier(none,'B'),identifier(none,frontPosition),identifier(none,occupiedFields),identifier(none,interestingFields),identifier(none,obstacles),identifier(none,alphaInt),identifier(none,'L'),identifier(none,battery),identifier(none,'N'),identifier(none,betaMin),identifier(none,'O'),identifier(none,'freeFields\''),identifier(none,initialOrientation),identifier(none,'S'),identifier(none,'pathFromBaseStation\''),identifier(none,freeFields),identifier(none,'W'),identifier(none,betaMax),identifier(none,'occupiedFields\''),identifier(none,alphaMax),identifier(none,epsilonS),identifier(none,orientation),identifier(none,pathsToInterestingFields),identifier(none,epsilonK),identifier(none,'Offset'),identifier(none,sensorRange),identifier(none,pathFromBaseStation),identifier(none,visibilityRange),identifier(none,field),identifier(none,radiation),identifier(none,findInterestingFields),identifier(none,baseStation),identifier(none,'rover\''),identifier(none,rover),identifier(none,rearPosition),identifier(none,newOrientation)]),sets(none,[deferred_set(none,orientations),deferred_set(none,fieldTypes)])]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),[conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])))))]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),forall(none,[identifier(none,'Pos')],implication(none,member(none,identifier(none,'Pos'),identifier(none,field)),forall(none,[identifier(none,x),identifier(none,y)],implication(none,truth(none),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),not_equal(none,identifier(none,rover),identifier(none,baseStation))],[less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),not_equal(none,identifier(none,rover),identifier(none,baseStation))],true).
disprover_po('returnToBase/inv16/INV',event_b_context(none,'DisproverContext',[axioms(none,[member(none,identifier(none,'B'),integer_set(none)),member(none,identifier(none,frontPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,occupiedFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,interestingFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,obstacles),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaInt),integer_set(none)),member(none,identifier(none,'L'),integer_set(none)),member(none,identifier(none,battery),integer_set(none)),member(none,identifier(none,'N'),identifier(none,orientations)),member(none,identifier(none,betaMin),integer_set(none)),member(none,identifier(none,'O'),identifier(none,orientations)),member(none,identifier(none,'freeFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'S'),identifier(none,orientations)),member(none,identifier(none,'pathFromBaseStation\''),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,freeFields),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,'W'),identifier(none,orientations)),member(none,identifier(none,betaMax),integer_set(none)),member(none,identifier(none,'occupiedFields\''),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,alphaMax),integer_set(none)),member(none,identifier(none,epsilonS),integer_set(none)),member(none,identifier(none,orientation),identifier(none,orientations)),member(none,identifier(none,pathsToInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))))),member(none,identifier(none,epsilonK),integer_set(none)),member(none,identifier(none,'Offset'),pow_subset(none,cartesian_product(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,sensorRange),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,pathFromBaseStation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,visibilityRange),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,field),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))),member(none,identifier(none,radiation),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),member(none,identifier(none,findInterestingFields),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none)))))),member(none,identifier(none,baseStation),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'rover\''),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rover),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,rearPosition),pow_subset(none,cartesian_product(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),identifier(none,orientations)),cartesian_product(none,integer_set(none),integer_set(none))))),member(none,identifier(none,newOrientation),pow_subset(none,cartesian_product(none,identifier(none,orientations),identifier(none,orientations)))),conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])])])])])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])])])])])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])])])])])))))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),conjunct(none,[member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))])])]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,l),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,identifier(none,k),integer_set(none)),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))])])])])]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,identifier(none,x),integer_set(none)),conjunct(none,[member(none,identifier(none,y),integer_set(none)),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))])])]))]),conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]))),forall(none,[identifier(none,'Pos')],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),cartesian_product(none,integer_set(none),integer_set(none))),member(none,identifier(none,'Pos'),identifier(none,field))]),forall(none,[identifier(none,x),identifier(none,y)],implication(none,conjunct(none,[member(none,identifier(none,x),integer_set(none)),member(none,identifier(none,y),integer_set(none))]),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields),identifier(none,field)),subset(none,identifier(none,occupiedFields),identifier(none,field)),member(none,identifier(none,baseStation),identifier(none,freeFields)),equal(none,intersection(none,identifier(none,freeFields),identifier(none,obstacles)),typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),subset(none,identifier(none,occupiedFields),identifier(none,obstacles)),member(none,identifier(none,rover),identifier(none,freeFields)),less_equal(none,function(none,identifier(none,radiation),[identifier(none,rover)]),identifier(none,alphaMax)),member(none,identifier(none,rover),domain(none,identifier(none,radiation))),subset(none,identifier(none,interestingFields),identifier(none,field)),member(none,identifier(none,pathFromBaseStation),relations(none,identifier(none,field),identifier(none,field))),member(none,identifier(none,pathsToInterestingFields),relations(none,identifier(none,field),relations(none,identifier(none,field),identifier(none,field)))),not_equal(none,identifier(none,rover),identifier(none,baseStation))]),constants(none,[identifier(none,'B'),identifier(none,frontPosition),identifier(none,occupiedFields),identifier(none,interestingFields),identifier(none,obstacles),identifier(none,alphaInt),identifier(none,'L'),identifier(none,battery),identifier(none,'N'),identifier(none,betaMin),identifier(none,'O'),identifier(none,'freeFields\''),identifier(none,initialOrientation),identifier(none,'S'),identifier(none,'pathFromBaseStation\''),identifier(none,freeFields),identifier(none,'W'),identifier(none,betaMax),identifier(none,'occupiedFields\''),identifier(none,alphaMax),identifier(none,epsilonS),identifier(none,orientation),identifier(none,pathsToInterestingFields),identifier(none,epsilonK),identifier(none,'Offset'),identifier(none,sensorRange),identifier(none,pathFromBaseStation),identifier(none,visibilityRange),identifier(none,field),identifier(none,radiation),identifier(none,findInterestingFields),identifier(none,baseStation),identifier(none,'rover\''),identifier(none,rover),identifier(none,rearPosition),identifier(none,newOrientation)]),sets(none,[deferred_set(none,orientations),deferred_set(none,fieldTypes)])]),member(none,typeof(none,empty_set(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),cartesian_product(none,integer_set(none),integer_set(none))))),relations(none,identifier(none,field),identifier(none,field))),[conjunct(none,[member(none,identifier(none,'B'),natural1_set(none)),greater_equal(none,identifier(none,'B'),integer(none,10))]),conjunct(none,[member(none,identifier(none,'L'),natural1_set(none)),greater_equal(none,identifier(none,'L'),integer(none,10))]),equal(none,identifier(none,field),cartesian_product(none,interval(none,integer(none,1),identifier(none,'B')),interval(none,integer(none,1),identifier(none,'L')))),member(none,identifier(none,baseStation),identifier(none,field)),partition(none,identifier(none,orientations),[set_extension(none,[identifier(none,'N')]),set_extension(none,[identifier(none,'O')]),set_extension(none,[identifier(none,'S')]),set_extension(none,[identifier(none,'W')])]),member(none,identifier(none,initialOrientation),identifier(none,orientations)),member(none,identifier(none,'Offset'),total_function(none,identifier(none,orientations),cartesian_product(none,interval(none,unary_minus(none,integer(none,1)),integer(none,1)),interval(none,unary_minus(none,integer(none,1)),integer(none,1))))),equal(none,identifier(none,'Offset'),set_extension(none,[couple(none,[identifier(none,'N'),couple(none,[integer(none,0),integer(none,1)])]),couple(none,[identifier(none,'O'),couple(none,[integer(none,1),integer(none,0)])]),couple(none,[identifier(none,'S'),couple(none,[integer(none,0),unary_minus(none,integer(none,1))])]),couple(none,[identifier(none,'W'),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)])])])),equal(none,identifier(none,frontPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[add(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),add(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),equal(none,identifier(none,rearPosition),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),couple(none,[minus(none,function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])])),minus(none,function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[function(none,identifier(none,'Offset'),[identifier(none,orientation)])]))])]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),member(none,identifier(none,newOrientation),total_function(none,identifier(none,orientations),identifier(none,orientations))),equal(none,identifier(none,newOrientation),set_extension(none,[couple(none,[identifier(none,'W'),identifier(none,'N')]),couple(none,[identifier(none,'N'),identifier(none,'O')]),couple(none,[identifier(none,'O'),identifier(none,'S')]),couple(none,[identifier(none,'S'),identifier(none,'W')])])),subset(none,identifier(none,obstacles),identifier(none,field)),not_member(none,identifier(none,baseStation),identifier(none,obstacles)),conjunct(none,[member(none,identifier(none,betaMax),natural1_set(none)),less_equal(none,identifier(none,betaMax),multiplication(none,integer(none,2),identifier(none,'B')))]),conjunct(none,[greater(none,identifier(none,epsilonK),integer(none,0)),less_equal(none,identifier(none,epsilonK),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonK),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,visibilityRange),total_function(none,cartesian_product(none,identifier(none,field),identifier(none,orientations)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),equal(none,identifier(none,visibilityRange),event_b_comprehension_set(none,[identifier(none,'Pos'),identifier(none,orientation)],couple(none,[couple(none,[identifier(none,'Pos'),identifier(none,orientation)]),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,1),integer(none,0)]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),unary_minus(none,integer(none,1))]))])),union(none,event_b_comprehension_set(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[unary_minus(none,integer(none,1)),integer(none,0)]))])),event_b_comprehension_set(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,function(none,identifier(none,'Offset'),[identifier(none,orientation)]),couple(none,[integer(none,0),integer(none,1)]))])))))]),conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]))),forall(none,[identifier(none,'Pos'),identifier(none,orientation)],implication(none,conjunct(none,[member(none,identifier(none,'Pos'),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations))]),conjunct(none,[forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),integer(none,1))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),minus(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,k),identifier(none,y),identifier(none,l)],implication(none,conjunct(none,[member(none,couple(none,[minus(none,identifier(none,x),identifier(none,k)),add(none,identifier(none,y),identifier(none,l))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))]))),forall(none,[identifier(none,x),identifier(none,l),identifier(none,y),identifier(none,k)],implication(none,conjunct(none,[member(none,couple(none,[add(none,identifier(none,x),identifier(none,l)),add(none,identifier(none,y),identifier(none,k))]),identifier(none,field)),member(none,identifier(none,k),natural_set(none)),member(none,identifier(none,k),interval(none,integer(none,1),identifier(none,epsilonK))),member(none,identifier(none,l),integer_set(none)),member(none,identifier(none,l),interval(none,unary_minus(none,identifier(none,k)),identifier(none,k))),equal(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),equal(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')]))]),conjunct(none,[member(none,identifier(none,orientation),domain(none,identifier(none,'Offset'))),member(none,identifier(none,'Offset'),partial_function(none,identifier(none,orientations),cartesian_product(none,integer_set(none),integer_set(none))))])))]))),member(none,identifier(none,radiation),total_function(none,identifier(none,field),natural_set(none))),member(none,identifier(none,alphaMax),natural1_set(none)),conjunct(none,[member(none,identifier(none,alphaInt),natural_set(none)),less(none,identifier(none,alphaInt),identifier(none,alphaMax))]),less_equal(none,function(none,identifier(none,radiation),[identifier(none,baseStation)]),identifier(none,alphaMax)),member(none,identifier(none,baseStation),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none))),conjunct(none,[greater(none,identifier(none,epsilonS),integer(none,0)),less_equal(none,identifier(none,epsilonS),div(none,identifier(none,'B'),integer(none,5)))]),implication(none,greater(none,identifier(none,epsilonS),integer(none,0)),not_equal(none,integer(none,5),integer(none,0))),member(none,identifier(none,sensorRange),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,sensorRange),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),less(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),less(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),add(none,identifier(none,epsilonS),integer(none,1))),greater(none,minus(none,identifier(none,x),function(none,typeof(none,event_b_first_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1)))),greater(none,minus(none,identifier(none,y),function(none,typeof(none,event_b_second_projection_v2(none),pow_subset(none,cartesian_product(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))),[identifier(none,'Pos')])),unary_minus(none,add(none,identifier(none,epsilonS),integer(none,1))))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),member(none,identifier(none,findInterestingFields),total_function(none,identifier(none,field),pow_subset(none,identifier(none,field)))),equal(none,identifier(none,findInterestingFields),event_b_comprehension_set(none,[identifier(none,'Pos')],couple(none,[identifier(none,'Pos'),event_b_comprehension_set(none,[identifier(none,x),identifier(none,y)],couple(none,[identifier(none,x),identifier(none,y)]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field)),greater(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaInt)),less(none,function(none,identifier(none,radiation),[couple(none,[identifier(none,x),identifier(none,y)])]),identifier(none,alphaMax))]))]),member(none,identifier(none,'Pos'),identifier(none,field)))),forall(none,[identifier(none,'Pos')],implication(none,member(none,identifier(none,'Pos'),identifier(none,field)),forall(none,[identifier(none,x),identifier(none,y)],implication(none,truth(none),conjunct(none,[member(none,identifier(none,'Pos'),domain(none,identifier(none,sensorRange))),member(none,identifier(none,sensorRange),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),pow_subset(none,cartesian_product(none,integer_set(none),integer_set(none))))),implication(none,conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),function(none,identifier(none,sensorRange),[identifier(none,'Pos')])),member(none,couple(none,[identifier(none,x),identifier(none,y)]),identifier(none,field))]),conjunct(none,[member(none,couple(none,[identifier(none,x),identifier(none,y)]),domain(none,identifier(none,radiation))),member(none,identifier(none,radiation),partial_function(none,cartesian_product(none,integer_set(none),integer_set(none)),integer_set(none)))]))]))))),subset(none,set_extension(none,[identifier(none,rover)]),identifier(none,field)),member(none,identifier(none,orientation),identifier(none,orientations)),conjunct(none,[member(none,identifier(none,battery),natural_set(none)),less_equal(none,identifier(none,battery),identifier(none,betaMax))]),conjunct(none,[member(none,identifier(none,betaMin),natural_set(none)),less(none,identifier(none,betaMin),identifier(none,betaMax))]),greater(none,identifier(none,battery),integer(none,0)),subset(none,identifier(none,freeFields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