Input || R0 || (EXISTS p_AskPermission_1: AskPermission. (p_AskPermission_1_presence & EXISTS p_Measure_476: Measure. (p_Measure_476_presence & (p_AskPermission_1_time = p_Measure_476_time))) & ((EXISTS p_RobotMoving_414: RobotMoving. (p_RobotMoving_414_presence & ((p_RobotMoving_414_time = 1) & (p_RobotMoving_414_presence <-> RobotMoving_15_presence))) & EXISTS p_InformHuman_149: InformHuman. (p_InformHuman_149_presence & ((p_InformHuman_149_time = 0) & (p_InformHuman_149_presence <-> InformHuman_7_presence))) & EXISTS p_AskPermission_70: AskPermission. (p_AskPermission_70_presence & ((p_AskPermission_70_time = 0) & (p_AskPermission_70_presence <-> AskPermission_2_presence))) & EXISTS p_Measure_475: Measure. (p_Measure_475_presence & ((p_Measure_475_time = 0) & (p_Measure_475_humanInRoute <-> False) & (p_Measure_475_humanInRange <-> False) & (p_Measure_475_bumpHuman <-> False) & (p_Measure_475_humanTooClose <-> False) & (p_Measure_475_routeAvailable <-> True) & (p_Measure_475_humanReEnables <-> False) & (p_Measure_475_risk = 0) & (p_Measure_475_efficiency = 0) & (p_Measure_475_isHumanTask <-> False) & (p_Measure_475_humanConsents <-> False) & (p_Measure_475_accident <-> False) & (p_Measure_475_humansPresent <-> False) & (p_Measure_475_obstaclePresent <-> False) & (p_Measure_475_presence <-> Measure_37_presence))) & EXISTS p_blocked_not_RobotMoving_32: blocked_not_RobotMoving. (p_blocked_not_RobotMoving_32_presence & ((p_blocked_not_RobotMoving_32_time = 0) & (p_blocked_not_RobotMoving_32_end = 0) & (p_blocked_not_RobotMoving_32_presence <-> blocked_not_RobotMoving_1_presence)))) & Forall p_Measure_0: Measure. ( (! p_Measure_0_presence) | Forall p_Measure_477: Measure. ( (! p_Measure_477_presence) | ((! (p_Measure_0_time = p_Measure_477_time)) | ((p_Measure_0_time = p_Measure_477_time) & (p_Measure_0_humanInRoute <-> p_Measure_477_humanInRoute) & (p_Measure_0_humanInRange <-> p_Measure_477_humanInRange) & (p_Measure_0_bumpHuman <-> p_Measure_477_bumpHuman) & (p_Measure_0_humanTooClose <-> p_Measure_477_humanTooClose) & (p_Measure_0_routeAvailable <-> p_Measure_477_routeAvailable) & (p_Measure_0_humanReEnables <-> p_Measure_477_humanReEnables) & (p_Measure_0_risk = p_Measure_477_risk) & (p_Measure_0_efficiency = p_Measure_477_efficiency) & (p_Measure_0_isHumanTask <-> p_Measure_477_isHumanTask) & (p_Measure_0_humanConsents <-> p_Measure_477_humanConsents) & (p_Measure_0_accident <-> p_Measure_477_accident) & (p_Measure_0_humansPresent <-> p_Measure_477_humansPresent) & (p_Measure_0_obstaclePresent <-> p_Measure_477_obstaclePresent) & (p_Measure_0_presence <-> p_Measure_477_presence)))))))
Def || L1 || c0 <-> (EXISTS p_AskPermission_1: AskPermission. (p_AskPermission_1_presence & EXISTS p_Measure_476: Measure. (p_Measure_476_presence & (p_AskPermission_1_time = p_Measure_476_time))) & ((EXISTS p_RobotMoving_414: RobotMoving. (p_RobotMoving_414_presence & ((p_RobotMoving_414_time = 1) & (p_RobotMoving_414_presence <-> RobotMoving_15_presence))) & EXISTS p_InformHuman_149: InformHuman. (p_InformHuman_149_presence & ((p_InformHuman_149_time = 0) & (p_InformHuman_149_presence <-> InformHuman_7_presence))) & EXISTS p_AskPermission_70: AskPermission. (p_AskPermission_70_presence & ((p_AskPermission_70_time = 0) & (p_AskPermission_70_presence <-> AskPermission_2_presence))) & EXISTS p_Measure_475: Measure. (p_Measure_475_presence & ((p_Measure_475_time = 0) & (p_Measure_475_humanInRoute <-> False) & (p_Measure_475_humanInRange <-> False) & (p_Measure_475_bumpHuman <-> False) & (p_Measure_475_humanTooClose <-> False) & (p_Measure_475_routeAvailable <-> True) & (p_Measure_475_humanReEnables <-> False) & (p_Measure_475_risk = 0) & (p_Measure_475_efficiency = 0) & (p_Measure_475_isHumanTask <-> False) & (p_Measure_475_humanConsents <-> False) & (p_Measure_475_accident <-> False) & (p_Measure_475_humansPresent <-> False) & (p_Measure_475_obstaclePresent <-> False) & (p_Measure_475_presence <-> Measure_37_presence))) & EXISTS p_blocked_not_RobotMoving_32: blocked_not_RobotMoving. (p_blocked_not_RobotMoving_32_presence & ((p_blocked_not_RobotMoving_32_time = 0) & (p_blocked_not_RobotMoving_32_end = 0) & (p_blocked_not_RobotMoving_32_presence <-> blocked_not_RobotMoving_1_presence)))) & Forall p_Measure_0: Measure. ( (! p_Measure_0_presence) | Forall p_Measure_477: Measure. ( (! p_Measure_477_presence) | ((! (p_Measure_0_time = p_Measure_477_time)) | ((p_Measure_0_time = p_Measure_477_time) & (p_Measure_0_humanInRoute <-> p_Measure_477_humanInRoute) & (p_Measure_0_humanInRange <-> p_Measure_477_humanInRange) & (p_Measure_0_bumpHuman <-> p_Measure_477_bumpHuman) & (p_Measure_0_humanTooClose <-> p_Measure_477_humanTooClose) & (p_Measure_0_routeAvailable <-> p_Measure_477_routeAvailable) & (p_Measure_0_humanReEnables <-> p_Measure_477_humanReEnables) & (p_Measure_0_risk = p_Measure_477_risk) & (p_Measure_0_efficiency = p_Measure_477_efficiency) & (p_Measure_0_isHumanTask <-> p_Measure_477_isHumanTask) & (p_Measure_0_humanConsents <-> p_Measure_477_humanConsents) & (p_Measure_0_accident <-> p_Measure_477_accident) & (p_Measure_0_humansPresent <-> p_Measure_477_humansPresent) & (p_Measure_0_obstaclePresent <-> p_Measure_477_obstaclePresent) & (p_Measure_0_presence <-> p_Measure_477_presence)))))))
DeriveFact || F0 || c0 || L1 R0
Input || R1 || Forall p_RobotMoving_0: RobotMoving. ( (! p_RobotMoving_0_presence) | EXISTS p_Measure_478: Measure. (p_Measure_478_presence & ((p_RobotMoving_0_time = p_Measure_478_time) & (((! (True & p_Measure_478_bumpHuman)) | EXISTS p_InquireSafety_43: InquireSafety. (p_InquireSafety_43_presence & ((p_InquireSafety_43_time <= (p_RobotMoving_0_time + 0)) & ((p_RobotMoving_0_time + 0) <= p_InquireSafety_43_time)))) & ((! ((True & (! p_Measure_478_bumpHuman)) & p_Measure_478_humanTooClose)) | EXISTS p_AdjustRoute_114: AdjustRoute. (p_AdjustRoute_114_presence & ((p_AdjustRoute_114_time <= (p_RobotMoving_0_time + 0)) & ((p_RobotMoving_0_time + 0) <= p_AdjustRoute_114_time)))) & ((! (((True & (! p_Measure_478_bumpHuman)) & (! p_Measure_478_humanTooClose)) & p_Measure_478_humanInRoute)) | EXISTS p_AdjustRoute_113: AdjustRoute. (p_AdjustRoute_113_presence & ((p_AdjustRoute_113_time <= (p_RobotMoving_0_time + 0)) & ((p_RobotMoving_0_time + 0) <= p_AdjustRoute_113_time)))) & ((! ((((True & (! p_Measure_478_bumpHuman)) & (! p_Measure_478_humanTooClose)) & (! p_Measure_478_humanInRoute)) & True)) | EXISTS p_AvoidBumping_90: AvoidBumping. (p_AvoidBumping_90_presence & ((p_AvoidBumping_90_time <= (p_RobotMoving_0_time + 0)) & ((p_RobotMoving_0_time + 0) <= p_AvoidBumping_90_time))))))))
Def || L3 || c1 <-> Forall p_RobotMoving_0: RobotMoving. ( (! p_RobotMoving_0_presence) | EXISTS p_Measure_478: Measure. (p_Measure_478_presence & ((p_RobotMoving_0_time = p_Measure_478_time) & (((! (True & p_Measure_478_bumpHuman)) | EXISTS p_InquireSafety_43: InquireSafety. (p_InquireSafety_43_presence & ((p_InquireSafety_43_time <= (p_RobotMoving_0_time + 0)) & ((p_RobotMoving_0_time + 0) <= p_InquireSafety_43_time)))) & ((! ((True & (! p_Measure_478_bumpHuman)) & p_Measure_478_humanTooClose)) | EXISTS p_AdjustRoute_114: AdjustRoute. (p_AdjustRoute_114_presence & ((p_AdjustRoute_114_time <= (p_RobotMoving_0_time + 0)) & ((p_RobotMoving_0_time + 0) <= p_AdjustRoute_114_time)))) & ((! (((True & (! p_Measure_478_bumpHuman)) & (! p_Measure_478_humanTooClose)) & p_Measure_478_humanInRoute)) | EXISTS p_AdjustRoute_113: AdjustRoute. (p_AdjustRoute_113_presence & ((p_AdjustRoute_113_time <= (p_RobotMoving_0_time + 0)) & ((p_RobotMoving_0_time + 0) <= p_AdjustRoute_113_time)))) & ((! ((((True & (! p_Measure_478_bumpHuman)) & (! p_Measure_478_humanTooClose)) & (! p_Measure_478_humanInRoute)) & True)) | EXISTS p_AvoidBumping_90: AvoidBumping. (p_AvoidBumping_90_presence & ((p_AvoidBumping_90_time <= (p_RobotMoving_0_time + 0)) & ((p_RobotMoving_0_time + 0) <= p_AvoidBumping_90_time))))))))
DeriveFact || F1 || c1 || L3 R1
Input || R2 || Forall p_RobotMoving_2: RobotMoving. ( (! p_RobotMoving_2_presence) | EXISTS p_Measure_479: Measure. (p_Measure_479_presence & ((p_RobotMoving_2_time = p_Measure_479_time) & ((! (p_Measure_479_humanInRange | (p_Measure_479_humanTooClose | (! p_Measure_479_routeAvailable)))) | EXISTS p_AvoidBumping_91: AvoidBumping. (p_AvoidBumping_91_presence & ((p_AvoidBumping_91_time <= (p_RobotMoving_2_time + 0)) & ((p_RobotMoving_2_time + 0) <= p_AvoidBumping_91_time)))))))
Def || L5 || c2 <-> Forall p_RobotMoving_2: RobotMoving. ( (! p_RobotMoving_2_presence) | EXISTS p_Measure_479: Measure. (p_Measure_479_presence & ((p_RobotMoving_2_time = p_Measure_479_time) & ((! (p_Measure_479_humanInRange | (p_Measure_479_humanTooClose | (! p_Measure_479_routeAvailable)))) | EXISTS p_AvoidBumping_91: AvoidBumping. (p_AvoidBumping_91_presence & ((p_AvoidBumping_91_time <= (p_RobotMoving_2_time + 0)) & ((p_RobotMoving_2_time + 0) <= p_AvoidBumping_91_time)))))))
DeriveFact || F2 || c2 || L5 R2
Input || R3 || Forall p_RobotMoving_4: RobotMoving. ( (! p_RobotMoving_4_presence) | EXISTS p_Measure_480: Measure. (p_Measure_480_presence & ((p_RobotMoving_4_time = p_Measure_480_time) & EXISTS p_AccountHumanRandomness_45: AccountHumanRandomness. (p_AccountHumanRandomness_45_presence & ((p_AccountHumanRandomness_45_time <= (p_RobotMoving_4_time + 0)) & ((p_RobotMoving_4_time + 0) <= p_AccountHumanRandomness_45_time))))))
Def || L7 || c3 <-> Forall p_RobotMoving_4: RobotMoving. ( (! p_RobotMoving_4_presence) | EXISTS p_Measure_480: Measure. (p_Measure_480_presence & ((p_RobotMoving_4_time = p_Measure_480_time) & EXISTS p_AccountHumanRandomness_45: AccountHumanRandomness. (p_AccountHumanRandomness_45_presence & ((p_AccountHumanRandomness_45_time <= (p_RobotMoving_4_time + 0)) & ((p_RobotMoving_4_time + 0) <= p_AccountHumanRandomness_45_time))))))
DeriveFact || F3 || c3 || L7 R3
Input || R4 || Forall p_RobotMoving_6: RobotMoving. ( (! p_RobotMoving_6_presence) | EXISTS p_Measure_481: Measure. (p_Measure_481_presence & ((p_RobotMoving_6_time = p_Measure_481_time) & EXISTS p_TrackHumanLocation_79: TrackHumanLocation. (p_TrackHumanLocation_79_presence & ((p_TrackHumanLocation_79_time <= (p_RobotMoving_6_time + 0)) & ((p_RobotMoving_6_time + 0) <= p_TrackHumanLocation_79_time))))))
Def || L9 || c4 <-> Forall p_RobotMoving_6: RobotMoving. ( (! p_RobotMoving_6_presence) | EXISTS p_Measure_481: Measure. (p_Measure_481_presence & ((p_RobotMoving_6_time = p_Measure_481_time) & EXISTS p_TrackHumanLocation_79: TrackHumanLocation. (p_TrackHumanLocation_79_presence & ((p_TrackHumanLocation_79_time <= (p_RobotMoving_6_time + 0)) & ((p_RobotMoving_6_time + 0) <= p_TrackHumanLocation_79_time))))))
DeriveFact || F4 || c4 || L9 R4
Input || R5 || Forall p_RobotWorking_0: RobotWorking. ( (! p_RobotWorking_0_presence) | EXISTS p_Measure_482: Measure. (p_Measure_482_presence & ((p_RobotWorking_0_time = p_Measure_482_time) & EXISTS p_InformHuman_150: InformHuman. (p_InformHuman_150_presence & ((p_InformHuman_150_time <= (p_RobotWorking_0_time + 0)) & ((p_RobotWorking_0_time + 0) <= p_InformHuman_150_time))))))
Def || L11 || c5 <-> Forall p_RobotWorking_0: RobotWorking. ( (! p_RobotWorking_0_presence) | EXISTS p_Measure_482: Measure. (p_Measure_482_presence & ((p_RobotWorking_0_time = p_Measure_482_time) & EXISTS p_InformHuman_150: InformHuman. (p_InformHuman_150_presence & ((p_InformHuman_150_time <= (p_RobotWorking_0_time + 0)) & ((p_RobotWorking_0_time + 0) <= p_InformHuman_150_time))))))
DeriveFact || F5 || c5 || L11 R5
Input || R6 || Forall p_HumanSaysStop_0: HumanSaysStop. ( (! p_HumanSaysStop_0_presence) | EXISTS p_Measure_483: Measure. (p_Measure_483_presence & ((p_HumanSaysStop_0_time = p_Measure_483_time) & EXISTS p_RobotStopAction_97: RobotStopAction. (p_RobotStopAction_97_presence & ((p_RobotStopAction_97_time <= (p_HumanSaysStop_0_time + 0)) & ((p_HumanSaysStop_0_time + 0) <= p_RobotStopAction_97_time))))))
Def || L13 || c6 <-> Forall p_HumanSaysStop_0: HumanSaysStop. ( (! p_HumanSaysStop_0_presence) | EXISTS p_Measure_483: Measure. (p_Measure_483_presence & ((p_HumanSaysStop_0_time = p_Measure_483_time) & EXISTS p_RobotStopAction_97: RobotStopAction. (p_RobotStopAction_97_presence & ((p_RobotStopAction_97_time <= (p_HumanSaysStop_0_time + 0)) & ((p_HumanSaysStop_0_time + 0) <= p_RobotStopAction_97_time))))))
DeriveFact || F6 || c6 || L13 R6
Input || R7 || Forall p_InformHuman_0: InformHuman. ( (! p_InformHuman_0_presence) | EXISTS p_Measure_484: Measure. (p_Measure_484_presence & ((p_InformHuman_0_time = p_Measure_484_time) & (((! (True & (! p_Measure_484_routeAvailable))) | EXISTS p_AskPermission_71: AskPermission. (p_AskPermission_71_presence & ((p_AskPermission_71_time <= (p_InformHuman_0_time + 0)) & ((p_InformHuman_0_time + 0) <= p_AskPermission_71_time)))) & ((! ((True & p_Measure_484_routeAvailable) & p_Measure_484_humanInRoute)) | EXISTS p_AdjustRoute_115: AdjustRoute. (p_AdjustRoute_115_presence & ((p_AdjustRoute_115_time <= (p_InformHuman_0_time + 0)) & ((p_InformHuman_0_time + 0) <= p_AdjustRoute_115_time)))) & ((! (((True & p_Measure_484_routeAvailable) & (! p_Measure_484_humanInRoute)) & True)) | EXISTS p_RobotMoving_415: RobotMoving. (p_RobotMoving_415_presence & ((p_RobotMoving_415_time <= (p_InformHuman_0_time + 0)) & ((p_InformHuman_0_time + 0) <= p_RobotMoving_415_time))))))))
Def || L15 || c7 <-> Forall p_InformHuman_0: InformHuman. ( (! p_InformHuman_0_presence) | EXISTS p_Measure_484: Measure. (p_Measure_484_presence & ((p_InformHuman_0_time = p_Measure_484_time) & (((! (True & (! p_Measure_484_routeAvailable))) | EXISTS p_AskPermission_71: AskPermission. (p_AskPermission_71_presence & ((p_AskPermission_71_time <= (p_InformHuman_0_time + 0)) & ((p_InformHuman_0_time + 0) <= p_AskPermission_71_time)))) & ((! ((True & p_Measure_484_routeAvailable) & p_Measure_484_humanInRoute)) | EXISTS p_AdjustRoute_115: AdjustRoute. (p_AdjustRoute_115_presence & ((p_AdjustRoute_115_time <= (p_InformHuman_0_time + 0)) & ((p_InformHuman_0_time + 0) <= p_AdjustRoute_115_time)))) & ((! (((True & p_Measure_484_routeAvailable) & (! p_Measure_484_humanInRoute)) & True)) | EXISTS p_RobotMoving_415: RobotMoving. (p_RobotMoving_415_presence & ((p_RobotMoving_415_time <= (p_InformHuman_0_time + 0)) & ((p_InformHuman_0_time + 0) <= p_RobotMoving_415_time))))))))
DeriveFact || F7 || c7 || L15 R7
Input || R8 || Forall p_RobotMoving_8: RobotMoving. ( (! p_RobotMoving_8_presence) | EXISTS p_Measure_485: Measure. (p_Measure_485_presence & ((p_RobotMoving_8_time = p_Measure_485_time) & ((! p_Measure_485_humanInRange) | (((! (True & p_Measure_485_humanReEnables)) | EXISTS p_RobotContinueTask_79: RobotContinueTask. (p_RobotContinueTask_79_presence & ((p_RobotContinueTask_79_time <= (p_RobotMoving_8_time + 0)) & ((p_RobotMoving_8_time + 0) <= p_RobotContinueTask_79_time)))) & ((! ((True & (! p_Measure_485_humanReEnables)) & True)) | EXISTS p_RobotStopAction_98: RobotStopAction. (p_RobotStopAction_98_presence & ((p_RobotStopAction_98_time <= (p_RobotMoving_8_time + 0)) & ((p_RobotMoving_8_time + 0) <= p_RobotStopAction_98_time)))))))))
Def || L17 || c8 <-> Forall p_RobotMoving_8: RobotMoving. ( (! p_RobotMoving_8_presence) | EXISTS p_Measure_485: Measure. (p_Measure_485_presence & ((p_RobotMoving_8_time = p_Measure_485_time) & ((! p_Measure_485_humanInRange) | (((! (True & p_Measure_485_humanReEnables)) | EXISTS p_RobotContinueTask_79: RobotContinueTask. (p_RobotContinueTask_79_presence & ((p_RobotContinueTask_79_time <= (p_RobotMoving_8_time + 0)) & ((p_RobotMoving_8_time + 0) <= p_RobotContinueTask_79_time)))) & ((! ((True & (! p_Measure_485_humanReEnables)) & True)) | EXISTS p_RobotStopAction_98: RobotStopAction. (p_RobotStopAction_98_presence & ((p_RobotStopAction_98_time <= (p_RobotMoving_8_time + 0)) & ((p_RobotMoving_8_time + 0) <= p_RobotStopAction_98_time)))))))))
DeriveFact || F8 || c8 || L17 R8
Input || R9 || Forall p_RobotMoving_10: RobotMoving. ( (! p_RobotMoving_10_presence) | EXISTS p_Measure_486: Measure. (p_Measure_486_presence & ((p_RobotMoving_10_time = p_Measure_486_time) & (((! (True & ((p_Measure_486_efficiency = 0) & (p_Measure_486_risk = 0)))) | EXISTS p_IncreaseSpeed_41: IncreaseSpeed. (p_IncreaseSpeed_41_presence & ((p_IncreaseSpeed_41_time <= (p_RobotMoving_10_time + 0)) & ((p_RobotMoving_10_time + 0) <= p_IncreaseSpeed_41_time)))) & ((! ((True & (! ((p_Measure_486_efficiency = 0) & (p_Measure_486_risk = 0)))) & True)) | EXISTS p_MoveAtSafeSpeed_43: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_43_presence & ((p_MoveAtSafeSpeed_43_time <= (p_RobotMoving_10_time + 0)) & ((p_RobotMoving_10_time + 0) <= p_MoveAtSafeSpeed_43_time))))))))
Def || L19 || c9 <-> Forall p_RobotMoving_10: RobotMoving. ( (! p_RobotMoving_10_presence) | EXISTS p_Measure_486: Measure. (p_Measure_486_presence & ((p_RobotMoving_10_time = p_Measure_486_time) & (((! (True & ((p_Measure_486_efficiency = 0) & (p_Measure_486_risk = 0)))) | EXISTS p_IncreaseSpeed_41: IncreaseSpeed. (p_IncreaseSpeed_41_presence & ((p_IncreaseSpeed_41_time <= (p_RobotMoving_10_time + 0)) & ((p_RobotMoving_10_time + 0) <= p_IncreaseSpeed_41_time)))) & ((! ((True & (! ((p_Measure_486_efficiency = 0) & (p_Measure_486_risk = 0)))) & True)) | EXISTS p_MoveAtSafeSpeed_43: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_43_presence & ((p_MoveAtSafeSpeed_43_time <= (p_RobotMoving_10_time + 0)) & ((p_RobotMoving_10_time + 0) <= p_MoveAtSafeSpeed_43_time))))))))
DeriveFact || F9 || c9 || L19 R9
Input || R10 || Forall p_PreparingRobot_0: PreparingRobot. ( (! p_PreparingRobot_0_presence) | EXISTS p_Measure_487: Measure. (p_Measure_487_presence & ((p_PreparingRobot_0_time = p_Measure_487_time) & ((! p_Measure_487_isHumanTask) | (((! (True & p_Measure_487_humanConsents)) | True) & ((! ((True & (! p_Measure_487_humanConsents)) & True)) | (! EXISTS p_AssignToRobot_17: AssignToRobot. (p_AssignToRobot_17_presence & ((p_AssignToRobot_17_time <= (p_PreparingRobot_0_time + 0)) & ((p_PreparingRobot_0_time + 0) <= p_AssignToRobot_17_time))))))))))
Def || L21 || c10 <-> Forall p_PreparingRobot_0: PreparingRobot. ( (! p_PreparingRobot_0_presence) | EXISTS p_Measure_487: Measure. (p_Measure_487_presence & ((p_PreparingRobot_0_time = p_Measure_487_time) & ((! p_Measure_487_isHumanTask) | (((! (True & p_Measure_487_humanConsents)) | True) & ((! ((True & (! p_Measure_487_humanConsents)) & True)) | (! EXISTS p_AssignToRobot_17: AssignToRobot. (p_AssignToRobot_17_presence & ((p_AssignToRobot_17_time <= (p_PreparingRobot_0_time + 0)) & ((p_PreparingRobot_0_time + 0) <= p_AssignToRobot_17_time))))))))))
DeriveFact || F10 || c10 || L21 R10
Input || R11 || Forall p_PreparingRobot_2: PreparingRobot. ( (! p_PreparingRobot_2_presence) | EXISTS p_Measure_488: Measure. (p_Measure_488_presence & ((p_PreparingRobot_2_time = p_Measure_488_time) & EXISTS p_AssignLiability_17: AssignLiability. (p_AssignLiability_17_presence & ((p_AssignLiability_17_time <= (p_PreparingRobot_2_time + 0)) & ((p_PreparingRobot_2_time + 0) <= p_AssignLiability_17_time))))))
Def || L23 || c11 <-> Forall p_PreparingRobot_2: PreparingRobot. ( (! p_PreparingRobot_2_presence) | EXISTS p_Measure_488: Measure. (p_Measure_488_presence & ((p_PreparingRobot_2_time = p_Measure_488_time) & EXISTS p_AssignLiability_17: AssignLiability. (p_AssignLiability_17_presence & ((p_AssignLiability_17_time <= (p_PreparingRobot_2_time + 0)) & ((p_PreparingRobot_2_time + 0) <= p_AssignLiability_17_time))))))
DeriveFact || F11 || c11 || L23 R11
Input || R12 || Forall p_PreparingRobot_4: PreparingRobot. ( (! p_PreparingRobot_4_presence) | EXISTS p_Measure_489: Measure. (p_Measure_489_presence & ((p_PreparingRobot_4_time = p_Measure_489_time) & EXISTS p_InformHuman_151: InformHuman. (p_InformHuman_151_presence & ((p_InformHuman_151_time <= (p_PreparingRobot_4_time + 0)) & ((p_PreparingRobot_4_time + 0) <= p_InformHuman_151_time))))))
Def || L25 || c12 <-> Forall p_PreparingRobot_4: PreparingRobot. ( (! p_PreparingRobot_4_presence) | EXISTS p_Measure_489: Measure. (p_Measure_489_presence & ((p_PreparingRobot_4_time = p_Measure_489_time) & EXISTS p_InformHuman_151: InformHuman. (p_InformHuman_151_presence & ((p_InformHuman_151_time <= (p_PreparingRobot_4_time + 0)) & ((p_PreparingRobot_4_time + 0) <= p_InformHuman_151_time))))))
DeriveFact || F12 || c12 || L25 R12
Input || R13 || Forall p_PreparingRobot_6: PreparingRobot. ( (! p_PreparingRobot_6_presence) | EXISTS p_Measure_490: Measure. (p_Measure_490_presence & ((p_PreparingRobot_6_time = p_Measure_490_time) & EXISTS p_ConsiderAppearance_17: ConsiderAppearance. (p_ConsiderAppearance_17_presence & ((p_ConsiderAppearance_17_time <= (p_PreparingRobot_6_time + 0)) & ((p_PreparingRobot_6_time + 0) <= p_ConsiderAppearance_17_time))))))
Def || L27 || c13 <-> Forall p_PreparingRobot_6: PreparingRobot. ( (! p_PreparingRobot_6_presence) | EXISTS p_Measure_490: Measure. (p_Measure_490_presence & ((p_PreparingRobot_6_time = p_Measure_490_time) & EXISTS p_ConsiderAppearance_17: ConsiderAppearance. (p_ConsiderAppearance_17_presence & ((p_ConsiderAppearance_17_time <= (p_PreparingRobot_6_time + 0)) & ((p_PreparingRobot_6_time + 0) <= p_ConsiderAppearance_17_time))))))
DeriveFact || F13 || c13 || L27 R13
Input || R14 || Forall p_PreparingRobot_8: PreparingRobot. ( (! p_PreparingRobot_8_presence) | EXISTS p_Measure_491: Measure. (p_Measure_491_presence & ((p_PreparingRobot_8_time = p_Measure_491_time) & EXISTS p_MinimizeCobotCollaboration_17: MinimizeCobotCollaboration. (p_MinimizeCobotCollaboration_17_presence & ((p_MinimizeCobotCollaboration_17_time <= (p_PreparingRobot_8_time + 0)) & ((p_PreparingRobot_8_time + 0) <= p_MinimizeCobotCollaboration_17_time))))))
Def || L29 || c14 <-> Forall p_PreparingRobot_8: PreparingRobot. ( (! p_PreparingRobot_8_presence) | EXISTS p_Measure_491: Measure. (p_Measure_491_presence & ((p_PreparingRobot_8_time = p_Measure_491_time) & EXISTS p_MinimizeCobotCollaboration_17: MinimizeCobotCollaboration. (p_MinimizeCobotCollaboration_17_presence & ((p_MinimizeCobotCollaboration_17_time <= (p_PreparingRobot_8_time + 0)) & ((p_PreparingRobot_8_time + 0) <= p_MinimizeCobotCollaboration_17_time))))))
DeriveFact || F14 || c14 || L29 R14
Input || R15 || Forall p_PreparingRobot_10: PreparingRobot. ( (! p_PreparingRobot_10_presence) | EXISTS p_Measure_492: Measure. (p_Measure_492_presence & ((p_PreparingRobot_10_time = p_Measure_492_time) & EXISTS p_PrioritizeHumans_17: PrioritizeHumans. (p_PrioritizeHumans_17_presence & ((p_PrioritizeHumans_17_time <= (p_PreparingRobot_10_time + 0)) & ((p_PreparingRobot_10_time + 0) <= p_PrioritizeHumans_17_time))))))
Def || L31 || c15 <-> Forall p_PreparingRobot_10: PreparingRobot. ( (! p_PreparingRobot_10_presence) | EXISTS p_Measure_492: Measure. (p_Measure_492_presence & ((p_PreparingRobot_10_time = p_Measure_492_time) & EXISTS p_PrioritizeHumans_17: PrioritizeHumans. (p_PrioritizeHumans_17_presence & ((p_PrioritizeHumans_17_time <= (p_PreparingRobot_10_time + 0)) & ((p_PreparingRobot_10_time + 0) <= p_PrioritizeHumans_17_time))))))
DeriveFact || F15 || c15 || L31 R15
Input || R16 || Forall p_RobotWorking_2: RobotWorking. ( (! p_RobotWorking_2_presence) | EXISTS p_Measure_493: Measure. (p_Measure_493_presence & ((p_RobotWorking_2_time = p_Measure_493_time) & ((! p_Measure_493_accident) | EXISTS p_RobotStopAction_99: RobotStopAction. (p_RobotStopAction_99_presence & ((p_RobotStopAction_99_time <= (p_RobotWorking_2_time + 0)) & ((p_RobotWorking_2_time + 0) <= p_RobotStopAction_99_time)))))))
Def || L33 || c16 <-> Forall p_RobotWorking_2: RobotWorking. ( (! p_RobotWorking_2_presence) | EXISTS p_Measure_493: Measure. (p_Measure_493_presence & ((p_RobotWorking_2_time = p_Measure_493_time) & ((! p_Measure_493_accident) | EXISTS p_RobotStopAction_99: RobotStopAction. (p_RobotStopAction_99_presence & ((p_RobotStopAction_99_time <= (p_RobotWorking_2_time + 0)) & ((p_RobotWorking_2_time + 0) <= p_RobotStopAction_99_time)))))))
DeriveFact || F16 || c16 || L33 R16
Input || R17 || Forall p_RobotWorking_4: RobotWorking. ( (! p_RobotWorking_4_presence) | EXISTS p_Measure_494: Measure. (p_Measure_494_presence & ((p_RobotWorking_4_time = p_Measure_494_time) & ((! p_Measure_494_accident) | EXISTS p_ReportIncident_44: ReportIncident. (p_ReportIncident_44_presence & ((p_ReportIncident_44_time <= (p_RobotWorking_4_time + 0)) & ((p_RobotWorking_4_time + 0) <= p_ReportIncident_44_time)))))))
Def || L35 || c17 <-> Forall p_RobotWorking_4: RobotWorking. ( (! p_RobotWorking_4_presence) | EXISTS p_Measure_494: Measure. (p_Measure_494_presence & ((p_RobotWorking_4_time = p_Measure_494_time) & ((! p_Measure_494_accident) | EXISTS p_ReportIncident_44: ReportIncident. (p_ReportIncident_44_presence & ((p_ReportIncident_44_time <= (p_RobotWorking_4_time + 0)) & ((p_RobotWorking_4_time + 0) <= p_ReportIncident_44_time)))))))
DeriveFact || F17 || c17 || L35 R17
Input || R18 || Forall p_PreparingRobot_12: PreparingRobot. ( (! p_PreparingRobot_12_presence) | EXISTS p_Measure_495: Measure. (p_Measure_495_presence & ((p_PreparingRobot_12_time = p_Measure_495_time) & ((! p_Measure_495_humansPresent) | EXISTS p_Communicate_17: Communicate. (p_Communicate_17_presence & ((p_Communicate_17_time <= (p_PreparingRobot_12_time + 0)) & ((p_PreparingRobot_12_time + 0) <= p_Communicate_17_time)))))))
Def || L37 || c18 <-> Forall p_PreparingRobot_12: PreparingRobot. ( (! p_PreparingRobot_12_presence) | EXISTS p_Measure_495: Measure. (p_Measure_495_presence & ((p_PreparingRobot_12_time = p_Measure_495_time) & ((! p_Measure_495_humansPresent) | EXISTS p_Communicate_17: Communicate. (p_Communicate_17_presence & ((p_Communicate_17_time <= (p_PreparingRobot_12_time + 0)) & ((p_PreparingRobot_12_time + 0) <= p_Communicate_17_time)))))))
DeriveFact || F18 || c18 || L37 R18
Input || R19 || Forall p_RobotWorking_6: RobotWorking. ( (! p_RobotWorking_6_presence) | EXISTS p_Measure_496: Measure. (p_Measure_496_presence & ((p_RobotWorking_6_time = p_Measure_496_time) & ((! p_Measure_496_obstaclePresent) | EXISTS p_ReportIncident_45: ReportIncident. (p_ReportIncident_45_presence & ((p_ReportIncident_45_time <= (p_RobotWorking_6_time + 0)) & ((p_RobotWorking_6_time + 0) <= p_ReportIncident_45_time)))))))
Def || L39 || c19 <-> Forall p_RobotWorking_6: RobotWorking. ( (! p_RobotWorking_6_presence) | EXISTS p_Measure_496: Measure. (p_Measure_496_presence & ((p_RobotWorking_6_time = p_Measure_496_time) & ((! p_Measure_496_obstaclePresent) | EXISTS p_ReportIncident_45: ReportIncident. (p_ReportIncident_45_presence & ((p_ReportIncident_45_time <= (p_RobotWorking_6_time + 0)) & ((p_RobotWorking_6_time + 0) <= p_ReportIncident_45_time)))))))
DeriveFact || F19 || c19 || L39 R19
Input || R20 || Forall p_RobotWorking_8: RobotWorking. ( (! p_RobotWorking_8_presence) | EXISTS p_Measure_497: Measure. (p_Measure_497_presence & ((p_RobotWorking_8_time = p_Measure_497_time) & ((! p_Measure_497_obstaclePresent) | EXISTS p_RobotStopAction_100: RobotStopAction. (p_RobotStopAction_100_presence & ((p_RobotStopAction_100_time <= (p_RobotWorking_8_time + 0)) & ((p_RobotWorking_8_time + 0) <= p_RobotStopAction_100_time)))))))
Def || L41 || c20 <-> Forall p_RobotWorking_8: RobotWorking. ( (! p_RobotWorking_8_presence) | EXISTS p_Measure_497: Measure. (p_Measure_497_presence & ((p_RobotWorking_8_time = p_Measure_497_time) & ((! p_Measure_497_obstaclePresent) | EXISTS p_RobotStopAction_100: RobotStopAction. (p_RobotStopAction_100_presence & ((p_RobotStopAction_100_time <= (p_RobotWorking_8_time + 0)) & ((p_RobotWorking_8_time + 0) <= p_RobotStopAction_100_time)))))))
DeriveFact || F20 || c20 || L41 R20
Input || R21 || Forall p_RobotWorking_10: RobotWorking. ( (! p_RobotWorking_10_presence) | EXISTS p_Measure_498: Measure. (p_Measure_498_presence & ((p_RobotWorking_10_time = p_Measure_498_time) & ((! (p_Measure_498_humanInRange | (p_Measure_498_bumpHuman | (p_Measure_498_humanTooClose | (! p_Measure_498_routeAvailable))))) | (! EXISTS p_RobotContinueTask_80: RobotContinueTask. (p_RobotContinueTask_80_presence & ((p_RobotContinueTask_80_time <= (p_RobotWorking_10_time + 0)) & ((p_RobotWorking_10_time + 0) <= p_RobotContinueTask_80_time))))))))
Def || L43 || c21 <-> Forall p_RobotWorking_10: RobotWorking. ( (! p_RobotWorking_10_presence) | EXISTS p_Measure_498: Measure. (p_Measure_498_presence & ((p_RobotWorking_10_time = p_Measure_498_time) & ((! (p_Measure_498_humanInRange | (p_Measure_498_bumpHuman | (p_Measure_498_humanTooClose | (! p_Measure_498_routeAvailable))))) | (! EXISTS p_RobotContinueTask_80: RobotContinueTask. (p_RobotContinueTask_80_presence & ((p_RobotContinueTask_80_time <= (p_RobotWorking_10_time + 0)) & ((p_RobotWorking_10_time + 0) <= p_RobotContinueTask_80_time))))))))
DeriveFact || F21 || c21 || L43 R21
Input || R22 || Forall p_ActionHumanRandom_0: ActionHumanRandom. ( (! p_ActionHumanRandom_0_presence) | EXISTS p_Measure_499: Measure. (p_Measure_499_presence & ((p_ActionHumanRandom_0_time = p_Measure_499_time) & EXISTS p_RobotStopAction_101: RobotStopAction. (p_RobotStopAction_101_presence & ((p_RobotStopAction_101_time <= (p_ActionHumanRandom_0_time + 0)) & ((p_ActionHumanRandom_0_time + 0) <= p_RobotStopAction_101_time))))))
Def || L45 || c22 <-> Forall p_ActionHumanRandom_0: ActionHumanRandom. ( (! p_ActionHumanRandom_0_presence) | EXISTS p_Measure_499: Measure. (p_Measure_499_presence & ((p_ActionHumanRandom_0_time = p_Measure_499_time) & EXISTS p_RobotStopAction_101: RobotStopAction. (p_RobotStopAction_101_presence & ((p_RobotStopAction_101_time <= (p_ActionHumanRandom_0_time + 0)) & ((p_ActionHumanRandom_0_time + 0) <= p_RobotStopAction_101_time))))))
DeriveFact || F22 || c22 || L45 R22
Input || R23 || Forall p_ActionHumanRandom_2: ActionHumanRandom. ( (! p_ActionHumanRandom_2_presence) | EXISTS p_Measure_500: Measure. (p_Measure_500_presence & ((p_ActionHumanRandom_2_time = p_Measure_500_time) & EXISTS p_AskPermission_72: AskPermission. (p_AskPermission_72_presence & ((p_AskPermission_72_time <= (p_ActionHumanRandom_2_time + 0)) & ((p_ActionHumanRandom_2_time + 0) <= p_AskPermission_72_time))))))
Def || L47 || c23 <-> Forall p_ActionHumanRandom_2: ActionHumanRandom. ( (! p_ActionHumanRandom_2_presence) | EXISTS p_Measure_500: Measure. (p_Measure_500_presence & ((p_ActionHumanRandom_2_time = p_Measure_500_time) & EXISTS p_AskPermission_72: AskPermission. (p_AskPermission_72_presence & ((p_AskPermission_72_time <= (p_ActionHumanRandom_2_time + 0)) & ((p_ActionHumanRandom_2_time + 0) <= p_AskPermission_72_time))))))
DeriveFact || F23 || c23 || L47 R23
Input || R24 || Forall p_AskPermission_0: AskPermission. ( (! p_AskPermission_0_presence) | EXISTS p_Measure_501: Measure. (p_Measure_501_presence & ((p_AskPermission_0_time = p_Measure_501_time) & (! EXISTS p_RobotMoving_416: RobotMoving. (p_RobotMoving_416_presence & ((p_RobotMoving_416_time <= (p_AskPermission_0_time + 0)) & ((p_AskPermission_0_time + 0) <= p_RobotMoving_416_time)))))))
Def || L49 || c24 <-> Forall p_AskPermission_0: AskPermission. ( (! p_AskPermission_0_presence) | EXISTS p_Measure_501: Measure. (p_Measure_501_presence & ((p_AskPermission_0_time = p_Measure_501_time) & (! EXISTS p_RobotMoving_416: RobotMoving. (p_RobotMoving_416_presence & ((p_RobotMoving_416_time <= (p_AskPermission_0_time + 0)) & ((p_AskPermission_0_time + 0) <= p_RobotMoving_416_time)))))))
DeriveFact || F24 || c24 || L49 R24
Input || R25 || Forall p_ActionHumanRandom_4: ActionHumanRandom. ( (! p_ActionHumanRandom_4_presence) | EXISTS p_Measure_502: Measure. (p_Measure_502_presence & ((p_ActionHumanRandom_4_time = p_Measure_502_time) & ((! p_Measure_502_routeAvailable) | EXISTS p_MoveAwayFromHuman_7: MoveAwayFromHuman. (p_MoveAwayFromHuman_7_presence & ((p_MoveAwayFromHuman_7_time <= (p_ActionHumanRandom_4_time + 0)) & ((p_ActionHumanRandom_4_time + 0) <= p_MoveAwayFromHuman_7_time)))))))
Def || L51 || c25 <-> Forall p_ActionHumanRandom_4: ActionHumanRandom. ( (! p_ActionHumanRandom_4_presence) | EXISTS p_Measure_502: Measure. (p_Measure_502_presence & ((p_ActionHumanRandom_4_time = p_Measure_502_time) & ((! p_Measure_502_routeAvailable) | EXISTS p_MoveAwayFromHuman_7: MoveAwayFromHuman. (p_MoveAwayFromHuman_7_presence & ((p_MoveAwayFromHuman_7_time <= (p_ActionHumanRandom_4_time + 0)) & ((p_ActionHumanRandom_4_time + 0) <= p_MoveAwayFromHuman_7_time)))))))
DeriveFact || F25 || c25 || L51 R25
Input || R26 || Forall p_TrackHumanLocation_0: TrackHumanLocation. ( (! p_TrackHumanLocation_0_presence) | EXISTS p_Measure_503: Measure. (p_Measure_503_presence & ((p_TrackHumanLocation_0_time = p_Measure_503_time) & ((! p_Measure_503_humanTooClose) | EXISTS p_InformHuman_152: InformHuman. (p_InformHuman_152_presence & ((p_InformHuman_152_time <= (p_TrackHumanLocation_0_time + 0)) & ((p_TrackHumanLocation_0_time + 0) <= p_InformHuman_152_time)))))))
Def || L53 || c26 <-> Forall p_TrackHumanLocation_0: TrackHumanLocation. ( (! p_TrackHumanLocation_0_presence) | EXISTS p_Measure_503: Measure. (p_Measure_503_presence & ((p_TrackHumanLocation_0_time = p_Measure_503_time) & ((! p_Measure_503_humanTooClose) | EXISTS p_InformHuman_152: InformHuman. (p_InformHuman_152_presence & ((p_InformHuman_152_time <= (p_TrackHumanLocation_0_time + 0)) & ((p_TrackHumanLocation_0_time + 0) <= p_InformHuman_152_time)))))))
DeriveFact || F26 || c26 || L53 R26
Def || L54 || c27 <-> EXISTS p_AskPermission_1: AskPermission. (p_AskPermission_1_presence & EXISTS p_Measure_476: Measure. (p_Measure_476_presence & (p_AskPermission_1_time = p_Measure_476_time)))
Def || L55 || c28 <-> ((EXISTS p_RobotMoving_414: RobotMoving. (p_RobotMoving_414_presence & ((p_RobotMoving_414_time = 1) & (p_RobotMoving_414_presence <-> RobotMoving_15_presence))) & EXISTS p_InformHuman_149: InformHuman. (p_InformHuman_149_presence & ((p_InformHuman_149_time = 0) & (p_InformHuman_149_presence <-> InformHuman_7_presence))) & EXISTS p_AskPermission_70: AskPermission. (p_AskPermission_70_presence & ((p_AskPermission_70_time = 0) & (p_AskPermission_70_presence <-> AskPermission_2_presence))) & EXISTS p_Measure_475: Measure. (p_Measure_475_presence & ((p_Measure_475_time = 0) & (p_Measure_475_humanInRoute <-> False) & (p_Measure_475_humanInRange <-> False) & (p_Measure_475_bumpHuman <-> False) & (p_Measure_475_humanTooClose <-> False) & (p_Measure_475_routeAvailable <-> True) & (p_Measure_475_humanReEnables <-> False) & (p_Measure_475_risk = 0) & (p_Measure_475_efficiency = 0) & (p_Measure_475_isHumanTask <-> False) & (p_Measure_475_humanConsents <-> False) & (p_Measure_475_accident <-> False) & (p_Measure_475_humansPresent <-> False) & (p_Measure_475_obstaclePresent <-> False) & (p_Measure_475_presence <-> Measure_37_presence))) & EXISTS p_blocked_not_RobotMoving_32: blocked_not_RobotMoving. (p_blocked_not_RobotMoving_32_presence & ((p_blocked_not_RobotMoving_32_time = 0) & (p_blocked_not_RobotMoving_32_end = 0) & (p_blocked_not_RobotMoving_32_presence <-> blocked_not_RobotMoving_1_presence)))) & Forall p_Measure_0: Measure. ( (! p_Measure_0_presence) | Forall p_Measure_477: Measure. ( (! p_Measure_477_presence) | ((! (p_Measure_0_time = p_Measure_477_time)) | ((p_Measure_0_time = p_Measure_477_time) & (p_Measure_0_humanInRoute <-> p_Measure_477_humanInRoute) & (p_Measure_0_humanInRange <-> p_Measure_477_humanInRange) & (p_Measure_0_bumpHuman <-> p_Measure_477_bumpHuman) & (p_Measure_0_humanTooClose <-> p_Measure_477_humanTooClose) & (p_Measure_0_routeAvailable <-> p_Measure_477_routeAvailable) & (p_Measure_0_humanReEnables <-> p_Measure_477_humanReEnables) & (p_Measure_0_risk = p_Measure_477_risk) & (p_Measure_0_efficiency = p_Measure_477_efficiency) & (p_Measure_0_isHumanTask <-> p_Measure_477_isHumanTask) & (p_Measure_0_humanConsents <-> p_Measure_477_humanConsents) & (p_Measure_0_accident <-> p_Measure_477_accident) & (p_Measure_0_humansPresent <-> p_Measure_477_humansPresent) & (p_Measure_0_obstaclePresent <-> p_Measure_477_obstaclePresent) & (p_Measure_0_presence <-> p_Measure_477_presence))))))
DeriveFact || F27 || c0 -> (c27) || L54 L1
DeriveFact || F28 || c0 -> (c28) || L55 L1
DeriveLemma || EI L54  [p_AskPermission_1:AskPermission<-AskPermission_2] || L56 || c27 -> (AskPermission_2_presence & EXISTS p_Measure_504: Measure. (p_Measure_504_presence & (AskPermission_2_time = p_Measure_504_time)))
Def || L57 || c29 <-> (AskPermission_2_presence & EXISTS p_Measure_504: Measure. (p_Measure_504_presence & (AskPermission_2_time = p_Measure_504_time)))
DeriveFact || F29 || c27 -> c29 || L57 L56
AddFact || F30 || c30 <-> AskPermission_2_presence
Def || L58 || c31 <-> EXISTS p_Measure_504: Measure. (p_Measure_504_presence & (AskPermission_2_time = p_Measure_504_time))
DeriveFact || F31 || c29 -> (c30) || F30 L57
DeriveFact || F32 || c29 -> (c31) || L58 L57
DeriveLemma || EI L58  [p_Measure_504:Measure<-Measure_37] || L59 || c31 -> (Measure_37_presence & (AskPermission_2_time = Measure_37_time))
AddFact || F33 || c32 <-> (Measure_37_presence & (AskPermission_2_time = Measure_37_time))
DeriveFact || F34 || c31 -> c32 || F33 L59
Def || L60 || c33 <-> (EXISTS p_RobotMoving_414: RobotMoving. (p_RobotMoving_414_presence & ((p_RobotMoving_414_time = 1) & (p_RobotMoving_414_presence <-> RobotMoving_15_presence))) & EXISTS p_InformHuman_149: InformHuman. (p_InformHuman_149_presence & ((p_InformHuman_149_time = 0) & (p_InformHuman_149_presence <-> InformHuman_7_presence))) & EXISTS p_AskPermission_70: AskPermission. (p_AskPermission_70_presence & ((p_AskPermission_70_time = 0) & (p_AskPermission_70_presence <-> AskPermission_2_presence))) & EXISTS p_Measure_475: Measure. (p_Measure_475_presence & ((p_Measure_475_time = 0) & (p_Measure_475_humanInRoute <-> False) & (p_Measure_475_humanInRange <-> False) & (p_Measure_475_bumpHuman <-> False) & (p_Measure_475_humanTooClose <-> False) & (p_Measure_475_routeAvailable <-> True) & (p_Measure_475_humanReEnables <-> False) & (p_Measure_475_risk = 0) & (p_Measure_475_efficiency = 0) & (p_Measure_475_isHumanTask <-> False) & (p_Measure_475_humanConsents <-> False) & (p_Measure_475_accident <-> False) & (p_Measure_475_humansPresent <-> False) & (p_Measure_475_obstaclePresent <-> False) & (p_Measure_475_presence <-> Measure_37_presence))) & EXISTS p_blocked_not_RobotMoving_32: blocked_not_RobotMoving. (p_blocked_not_RobotMoving_32_presence & ((p_blocked_not_RobotMoving_32_time = 0) & (p_blocked_not_RobotMoving_32_end = 0) & (p_blocked_not_RobotMoving_32_presence <-> blocked_not_RobotMoving_1_presence))))
Def || L61 || c34 <-> Forall p_Measure_0: Measure. ( (! p_Measure_0_presence) | Forall p_Measure_477: Measure. ( (! p_Measure_477_presence) | ((! (p_Measure_0_time = p_Measure_477_time)) | ((p_Measure_0_time = p_Measure_477_time) & (p_Measure_0_humanInRoute <-> p_Measure_477_humanInRoute) & (p_Measure_0_humanInRange <-> p_Measure_477_humanInRange) & (p_Measure_0_bumpHuman <-> p_Measure_477_bumpHuman) & (p_Measure_0_humanTooClose <-> p_Measure_477_humanTooClose) & (p_Measure_0_routeAvailable <-> p_Measure_477_routeAvailable) & (p_Measure_0_humanReEnables <-> p_Measure_477_humanReEnables) & (p_Measure_0_risk = p_Measure_477_risk) & (p_Measure_0_efficiency = p_Measure_477_efficiency) & (p_Measure_0_isHumanTask <-> p_Measure_477_isHumanTask) & (p_Measure_0_humanConsents <-> p_Measure_477_humanConsents) & (p_Measure_0_accident <-> p_Measure_477_accident) & (p_Measure_0_humansPresent <-> p_Measure_477_humansPresent) & (p_Measure_0_obstaclePresent <-> p_Measure_477_obstaclePresent) & (p_Measure_0_presence <-> p_Measure_477_presence)))))
DeriveFact || F35 || c28 -> (c33) || L60 L55
DeriveFact || F36 || c28 -> (c34) || L61 L55
Def || L62 || c35 <-> EXISTS p_RobotMoving_414: RobotMoving. (p_RobotMoving_414_presence & ((p_RobotMoving_414_time = 1) & (p_RobotMoving_414_presence <-> RobotMoving_15_presence)))
Def || L63 || c36 <-> EXISTS p_InformHuman_149: InformHuman. (p_InformHuman_149_presence & ((p_InformHuman_149_time = 0) & (p_InformHuman_149_presence <-> InformHuman_7_presence)))
Def || L64 || c37 <-> EXISTS p_AskPermission_70: AskPermission. (p_AskPermission_70_presence & ((p_AskPermission_70_time = 0) & (p_AskPermission_70_presence <-> AskPermission_2_presence)))
Def || L65 || c38 <-> EXISTS p_Measure_475: Measure. (p_Measure_475_presence & ((p_Measure_475_time = 0) & (p_Measure_475_humanInRoute <-> False) & (p_Measure_475_humanInRange <-> False) & (p_Measure_475_bumpHuman <-> False) & (p_Measure_475_humanTooClose <-> False) & (p_Measure_475_routeAvailable <-> True) & (p_Measure_475_humanReEnables <-> False) & (p_Measure_475_risk = 0) & (p_Measure_475_efficiency = 0) & (p_Measure_475_isHumanTask <-> False) & (p_Measure_475_humanConsents <-> False) & (p_Measure_475_accident <-> False) & (p_Measure_475_humansPresent <-> False) & (p_Measure_475_obstaclePresent <-> False) & (p_Measure_475_presence <-> Measure_37_presence)))
Def || L66 || c39 <-> EXISTS p_blocked_not_RobotMoving_32: blocked_not_RobotMoving. (p_blocked_not_RobotMoving_32_presence & ((p_blocked_not_RobotMoving_32_time = 0) & (p_blocked_not_RobotMoving_32_end = 0) & (p_blocked_not_RobotMoving_32_presence <-> blocked_not_RobotMoving_1_presence)))
DeriveFact || F37 || c33 -> (c35) || L62 L60
DeriveFact || F38 || c33 -> (c36) || L63 L60
DeriveFact || F39 || c33 -> (c37) || L64 L60
DeriveFact || F40 || c33 -> (c38) || L65 L60
DeriveFact || F41 || c33 -> (c39) || L66 L60
DeriveLemma || EI L62  [p_RobotMoving_414:RobotMoving<-RobotMoving_15] || L67 || c35 -> (RobotMoving_15_presence & ((RobotMoving_15_time = 1) & (RobotMoving_15_presence <-> RobotMoving_15_presence)))
AddFact || F42 || c40 <-> (RobotMoving_15_presence & ((RobotMoving_15_time = 1) & (RobotMoving_15_presence <-> RobotMoving_15_presence)))
DeriveFact || F43 || c35 -> c40 || F42 L67
DeriveLemma || EI L63  [p_InformHuman_149:InformHuman<-InformHuman_7] || L68 || c36 -> (InformHuman_7_presence & ((InformHuman_7_time = 0) & (InformHuman_7_presence <-> InformHuman_7_presence)))
AddFact || F44 || c41 <-> (InformHuman_7_presence & ((InformHuman_7_time = 0) & (InformHuman_7_presence <-> InformHuman_7_presence)))
DeriveFact || F45 || c36 -> c41 || F44 L68
DeriveLemma || EI L64  [p_AskPermission_70:AskPermission<-AskPermission_3] || L69 || c37 -> (AskPermission_3_presence & ((AskPermission_3_time = 0) & (AskPermission_3_presence <-> AskPermission_2_presence)))
AddFact || F46 || c42 <-> (AskPermission_3_presence & ((AskPermission_3_time = 0) & (AskPermission_3_presence <-> AskPermission_2_presence)))
DeriveFact || F47 || c37 -> c42 || F46 L69
DeriveLemma || EI L65  [p_Measure_475:Measure<-Measure_38] || L70 || c38 -> (Measure_38_presence & ((Measure_38_time = 0) & (Measure_38_humanInRoute <-> False) & (Measure_38_humanInRange <-> False) & (Measure_38_bumpHuman <-> False) & (Measure_38_humanTooClose <-> False) & (Measure_38_routeAvailable <-> True) & (Measure_38_humanReEnables <-> False) & (Measure_38_risk = 0) & (Measure_38_efficiency = 0) & (Measure_38_isHumanTask <-> False) & (Measure_38_humanConsents <-> False) & (Measure_38_accident <-> False) & (Measure_38_humansPresent <-> False) & (Measure_38_obstaclePresent <-> False) & (Measure_38_presence <-> Measure_37_presence)))
AddFact || F48 || c43 <-> (Measure_38_presence & ((Measure_38_time = 0) & (Measure_38_humanInRoute <-> False) & (Measure_38_humanInRange <-> False) & (Measure_38_bumpHuman <-> False) & (Measure_38_humanTooClose <-> False) & (Measure_38_routeAvailable <-> True) & (Measure_38_humanReEnables <-> False) & (Measure_38_risk = 0) & (Measure_38_efficiency = 0) & (Measure_38_isHumanTask <-> False) & (Measure_38_humanConsents <-> False) & (Measure_38_accident <-> False) & (Measure_38_humansPresent <-> False) & (Measure_38_obstaclePresent <-> False) & (Measure_38_presence <-> Measure_37_presence)))
DeriveFact || F49 || c38 -> c43 || F48 L70
DeriveLemma || EI L66  [p_blocked_not_RobotMoving_32:blocked_not_RobotMoving<-blocked_not_RobotMoving_1] || L71 || c39 -> (blocked_not_RobotMoving_1_presence & ((blocked_not_RobotMoving_1_time = 0) & (blocked_not_RobotMoving_1_end = 0) & (blocked_not_RobotMoving_1_presence <-> blocked_not_RobotMoving_1_presence)))
AddFact || F50 || c44 <-> (blocked_not_RobotMoving_1_presence & ((blocked_not_RobotMoving_1_time = 0) & (blocked_not_RobotMoving_1_end = 0) & (blocked_not_RobotMoving_1_presence <-> blocked_not_RobotMoving_1_presence)))
DeriveFact || F51 || c39 -> c44 || F50 L71
DeriveLemma || UI L61 [p_Measure_0:Measure<-Measure_37]  || L72 || c34 -> ((! Measure_37_presence) | Forall p_Measure_505: Measure. ( (! p_Measure_505_presence) | ((! (Measure_37_time = p_Measure_505_time)) | ((Measure_37_time = p_Measure_505_time) & (Measure_37_humanInRoute <-> p_Measure_505_humanInRoute) & (Measure_37_humanInRange <-> p_Measure_505_humanInRange) & (Measure_37_bumpHuman <-> p_Measure_505_bumpHuman) & (Measure_37_humanTooClose <-> p_Measure_505_humanTooClose) & (Measure_37_routeAvailable <-> p_Measure_505_routeAvailable) & (Measure_37_humanReEnables <-> p_Measure_505_humanReEnables) & (Measure_37_risk = p_Measure_505_risk) & (Measure_37_efficiency = p_Measure_505_efficiency) & (Measure_37_isHumanTask <-> p_Measure_505_isHumanTask) & (Measure_37_humanConsents <-> p_Measure_505_humanConsents) & (Measure_37_accident <-> p_Measure_505_accident) & (Measure_37_humansPresent <-> p_Measure_505_humansPresent) & (Measure_37_obstaclePresent <-> p_Measure_505_obstaclePresent) & (Measure_37_presence <-> p_Measure_505_presence))))) || L59
Def || L73 || c45 <-> ((! Measure_37_presence) | Forall p_Measure_505: Measure. ( (! p_Measure_505_presence) | ((! (Measure_37_time = p_Measure_505_time)) | ((Measure_37_time = p_Measure_505_time) & (Measure_37_humanInRoute <-> p_Measure_505_humanInRoute) & (Measure_37_humanInRange <-> p_Measure_505_humanInRange) & (Measure_37_bumpHuman <-> p_Measure_505_bumpHuman) & (Measure_37_humanTooClose <-> p_Measure_505_humanTooClose) & (Measure_37_routeAvailable <-> p_Measure_505_routeAvailable) & (Measure_37_humanReEnables <-> p_Measure_505_humanReEnables) & (Measure_37_risk = p_Measure_505_risk) & (Measure_37_efficiency = p_Measure_505_efficiency) & (Measure_37_isHumanTask <-> p_Measure_505_isHumanTask) & (Measure_37_humanConsents <-> p_Measure_505_humanConsents) & (Measure_37_accident <-> p_Measure_505_accident) & (Measure_37_humansPresent <-> p_Measure_505_humansPresent) & (Measure_37_obstaclePresent <-> p_Measure_505_obstaclePresent) & (Measure_37_presence <-> p_Measure_505_presence)))))
DeriveFact || F52 || c34 -> c45 || L73 L72
AddFact || F53 || c46 <-> (! Measure_37_presence)
Def || L74 || c47 <-> Forall p_Measure_505: Measure. ( (! p_Measure_505_presence) | ((! (Measure_37_time = p_Measure_505_time)) | ((Measure_37_time = p_Measure_505_time) & (Measure_37_humanInRoute <-> p_Measure_505_humanInRoute) & (Measure_37_humanInRange <-> p_Measure_505_humanInRange) & (Measure_37_bumpHuman <-> p_Measure_505_bumpHuman) & (Measure_37_humanTooClose <-> p_Measure_505_humanTooClose) & (Measure_37_routeAvailable <-> p_Measure_505_routeAvailable) & (Measure_37_humanReEnables <-> p_Measure_505_humanReEnables) & (Measure_37_risk = p_Measure_505_risk) & (Measure_37_efficiency = p_Measure_505_efficiency) & (Measure_37_isHumanTask <-> p_Measure_505_isHumanTask) & (Measure_37_humanConsents <-> p_Measure_505_humanConsents) & (Measure_37_accident <-> p_Measure_505_accident) & (Measure_37_humansPresent <-> p_Measure_505_humansPresent) & (Measure_37_obstaclePresent <-> p_Measure_505_obstaclePresent) & (Measure_37_presence <-> p_Measure_505_presence))))
DeriveFact || F54 || c45 -> (c46 | c47) || F53 L74 L73
DeriveLemma || UI L74 [p_Measure_505:Measure<-Measure_37]  || L75 || c47 -> ((! Measure_37_presence) | ((! (Measure_37_time = Measure_37_time)) | True)) || L59
AddFact || F55 || c48 <-> ((! Measure_37_presence) | ((! (Measure_37_time = Measure_37_time)) | True))
DeriveFact || F56 || c47 -> c48 || F55 L75
DeriveLemma || UI L74 [p_Measure_505:Measure<-Measure_38]  || L76 || c47 -> ((! Measure_38_presence) | ((! (Measure_37_time = Measure_38_time)) | ((Measure_37_time = Measure_38_time) & (Measure_37_humanInRoute <-> Measure_38_humanInRoute) & (Measure_37_humanInRange <-> Measure_38_humanInRange) & (Measure_37_bumpHuman <-> Measure_38_bumpHuman) & (Measure_37_humanTooClose <-> Measure_38_humanTooClose) & (Measure_37_routeAvailable <-> Measure_38_routeAvailable) & (Measure_37_humanReEnables <-> Measure_38_humanReEnables) & (Measure_37_risk = Measure_38_risk) & (Measure_37_efficiency = Measure_38_efficiency) & (Measure_37_isHumanTask <-> Measure_38_isHumanTask) & (Measure_37_humanConsents <-> Measure_38_humanConsents) & (Measure_37_accident <-> Measure_38_accident) & (Measure_37_humansPresent <-> Measure_38_humansPresent) & (Measure_37_obstaclePresent <-> Measure_38_obstaclePresent) & (Measure_37_presence <-> Measure_38_presence)))) || L70
AddFact || F57 || c49 <-> ((! Measure_38_presence) | ((! (Measure_37_time = Measure_38_time)) | ((Measure_37_time = Measure_38_time) & (Measure_37_humanInRoute <-> Measure_38_humanInRoute) & (Measure_37_humanInRange <-> Measure_38_humanInRange) & (Measure_37_bumpHuman <-> Measure_38_bumpHuman) & (Measure_37_humanTooClose <-> Measure_38_humanTooClose) & (Measure_37_routeAvailable <-> Measure_38_routeAvailable) & (Measure_37_humanReEnables <-> Measure_38_humanReEnables) & (Measure_37_risk = Measure_38_risk) & (Measure_37_efficiency = Measure_38_efficiency) & (Measure_37_isHumanTask <-> Measure_38_isHumanTask) & (Measure_37_humanConsents <-> Measure_38_humanConsents) & (Measure_37_accident <-> Measure_38_accident) & (Measure_37_humansPresent <-> Measure_38_humansPresent) & (Measure_37_obstaclePresent <-> Measure_38_obstaclePresent) & (Measure_37_presence <-> Measure_38_presence))))
DeriveFact || F58 || c47 -> c49 || F57 L76
DeriveLemma || UI L61 [p_Measure_0:Measure<-Measure_38]  || L77 || c34 -> ((! Measure_38_presence) | Forall p_Measure_506: Measure. ( (! p_Measure_506_presence) | ((! (Measure_38_time = p_Measure_506_time)) | ((Measure_38_time = p_Measure_506_time) & (Measure_38_humanInRoute <-> p_Measure_506_humanInRoute) & (Measure_38_humanInRange <-> p_Measure_506_humanInRange) & (Measure_38_bumpHuman <-> p_Measure_506_bumpHuman) & (Measure_38_humanTooClose <-> p_Measure_506_humanTooClose) & (Measure_38_routeAvailable <-> p_Measure_506_routeAvailable) & (Measure_38_humanReEnables <-> p_Measure_506_humanReEnables) & (Measure_38_risk = p_Measure_506_risk) & (Measure_38_efficiency = p_Measure_506_efficiency) & (Measure_38_isHumanTask <-> p_Measure_506_isHumanTask) & (Measure_38_humanConsents <-> p_Measure_506_humanConsents) & (Measure_38_accident <-> p_Measure_506_accident) & (Measure_38_humansPresent <-> p_Measure_506_humansPresent) & (Measure_38_obstaclePresent <-> p_Measure_506_obstaclePresent) & (Measure_38_presence <-> p_Measure_506_presence))))) || L70
Def || L78 || c50 <-> ((! Measure_38_presence) | Forall p_Measure_506: Measure. ( (! p_Measure_506_presence) | ((! (Measure_38_time = p_Measure_506_time)) | ((Measure_38_time = p_Measure_506_time) & (Measure_38_humanInRoute <-> p_Measure_506_humanInRoute) & (Measure_38_humanInRange <-> p_Measure_506_humanInRange) & (Measure_38_bumpHuman <-> p_Measure_506_bumpHuman) & (Measure_38_humanTooClose <-> p_Measure_506_humanTooClose) & (Measure_38_routeAvailable <-> p_Measure_506_routeAvailable) & (Measure_38_humanReEnables <-> p_Measure_506_humanReEnables) & (Measure_38_risk = p_Measure_506_risk) & (Measure_38_efficiency = p_Measure_506_efficiency) & (Measure_38_isHumanTask <-> p_Measure_506_isHumanTask) & (Measure_38_humanConsents <-> p_Measure_506_humanConsents) & (Measure_38_accident <-> p_Measure_506_accident) & (Measure_38_humansPresent <-> p_Measure_506_humansPresent) & (Measure_38_obstaclePresent <-> p_Measure_506_obstaclePresent) & (Measure_38_presence <-> p_Measure_506_presence)))))
DeriveFact || F59 || c34 -> c50 || L78 L77
AddFact || F60 || c51 <-> (! Measure_38_presence)
Def || L79 || c52 <-> Forall p_Measure_506: Measure. ( (! p_Measure_506_presence) | ((! (Measure_38_time = p_Measure_506_time)) | ((Measure_38_time = p_Measure_506_time) & (Measure_38_humanInRoute <-> p_Measure_506_humanInRoute) & (Measure_38_humanInRange <-> p_Measure_506_humanInRange) & (Measure_38_bumpHuman <-> p_Measure_506_bumpHuman) & (Measure_38_humanTooClose <-> p_Measure_506_humanTooClose) & (Measure_38_routeAvailable <-> p_Measure_506_routeAvailable) & (Measure_38_humanReEnables <-> p_Measure_506_humanReEnables) & (Measure_38_risk = p_Measure_506_risk) & (Measure_38_efficiency = p_Measure_506_efficiency) & (Measure_38_isHumanTask <-> p_Measure_506_isHumanTask) & (Measure_38_humanConsents <-> p_Measure_506_humanConsents) & (Measure_38_accident <-> p_Measure_506_accident) & (Measure_38_humansPresent <-> p_Measure_506_humansPresent) & (Measure_38_obstaclePresent <-> p_Measure_506_obstaclePresent) & (Measure_38_presence <-> p_Measure_506_presence))))
DeriveFact || F61 || c50 -> (c51 | c52) || F60 L79 L78
DeriveLemma || UI L79 [p_Measure_506:Measure<-Measure_37]  || L80 || c52 -> ((! Measure_37_presence) | ((! (Measure_38_time = Measure_37_time)) | ((Measure_38_time = Measure_37_time) & (Measure_38_humanInRoute <-> Measure_37_humanInRoute) & (Measure_38_humanInRange <-> Measure_37_humanInRange) & (Measure_38_bumpHuman <-> Measure_37_bumpHuman) & (Measure_38_humanTooClose <-> Measure_37_humanTooClose) & (Measure_38_routeAvailable <-> Measure_37_routeAvailable) & (Measure_38_humanReEnables <-> Measure_37_humanReEnables) & (Measure_38_risk = Measure_37_risk) & (Measure_38_efficiency = Measure_37_efficiency) & (Measure_38_isHumanTask <-> Measure_37_isHumanTask) & (Measure_38_humanConsents <-> Measure_37_humanConsents) & (Measure_38_accident <-> Measure_37_accident) & (Measure_38_humansPresent <-> Measure_37_humansPresent) & (Measure_38_obstaclePresent <-> Measure_37_obstaclePresent) & (Measure_38_presence <-> Measure_37_presence)))) || L59
AddFact || F62 || c53 <-> ((! Measure_37_presence) | ((! (Measure_38_time = Measure_37_time)) | ((Measure_38_time = Measure_37_time) & (Measure_38_humanInRoute <-> Measure_37_humanInRoute) & (Measure_38_humanInRange <-> Measure_37_humanInRange) & (Measure_38_bumpHuman <-> Measure_37_bumpHuman) & (Measure_38_humanTooClose <-> Measure_37_humanTooClose) & (Measure_38_routeAvailable <-> Measure_37_routeAvailable) & (Measure_38_humanReEnables <-> Measure_37_humanReEnables) & (Measure_38_risk = Measure_37_risk) & (Measure_38_efficiency = Measure_37_efficiency) & (Measure_38_isHumanTask <-> Measure_37_isHumanTask) & (Measure_38_humanConsents <-> Measure_37_humanConsents) & (Measure_38_accident <-> Measure_37_accident) & (Measure_38_humansPresent <-> Measure_37_humansPresent) & (Measure_38_obstaclePresent <-> Measure_37_obstaclePresent) & (Measure_38_presence <-> Measure_37_presence))))
DeriveFact || F63 || c52 -> c53 || F62 L80
DeriveLemma || UI L79 [p_Measure_506:Measure<-Measure_38]  || L81 || c52 -> ((! Measure_38_presence) | ((! (Measure_38_time = Measure_38_time)) | True)) || L70
AddFact || F64 || c54 <-> ((! Measure_38_presence) | ((! (Measure_38_time = Measure_38_time)) | True))
DeriveFact || F65 || c52 -> c54 || F64 L81
DeriveLemma || UI L3 [p_RobotMoving_0:RobotMoving<-RobotMoving_15]  || L82 || c1 -> ((! RobotMoving_15_presence) | EXISTS p_Measure_507: Measure. (p_Measure_507_presence & ((RobotMoving_15_time = p_Measure_507_time) & (((! (True & p_Measure_507_bumpHuman)) | EXISTS p_InquireSafety_45: InquireSafety. (p_InquireSafety_45_presence & ((p_InquireSafety_45_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_InquireSafety_45_time)))) & ((! ((True & (! p_Measure_507_bumpHuman)) & p_Measure_507_humanTooClose)) | EXISTS p_AdjustRoute_119: AdjustRoute. (p_AdjustRoute_119_presence & ((p_AdjustRoute_119_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_119_time)))) & ((! (((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & p_Measure_507_humanInRoute)) | EXISTS p_AdjustRoute_118: AdjustRoute. (p_AdjustRoute_118_presence & ((p_AdjustRoute_118_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_118_time)))) & ((! ((((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & (! p_Measure_507_humanInRoute)) & True)) | EXISTS p_AvoidBumping_93: AvoidBumping. (p_AvoidBumping_93_presence & ((p_AvoidBumping_93_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_93_time)))))))) || L67
Def || L83 || c55 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_507: Measure. (p_Measure_507_presence & ((RobotMoving_15_time = p_Measure_507_time) & (((! (True & p_Measure_507_bumpHuman)) | EXISTS p_InquireSafety_45: InquireSafety. (p_InquireSafety_45_presence & ((p_InquireSafety_45_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_InquireSafety_45_time)))) & ((! ((True & (! p_Measure_507_bumpHuman)) & p_Measure_507_humanTooClose)) | EXISTS p_AdjustRoute_119: AdjustRoute. (p_AdjustRoute_119_presence & ((p_AdjustRoute_119_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_119_time)))) & ((! (((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & p_Measure_507_humanInRoute)) | EXISTS p_AdjustRoute_118: AdjustRoute. (p_AdjustRoute_118_presence & ((p_AdjustRoute_118_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_118_time)))) & ((! ((((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & (! p_Measure_507_humanInRoute)) & True)) | EXISTS p_AvoidBumping_93: AvoidBumping. (p_AvoidBumping_93_presence & ((p_AvoidBumping_93_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_93_time))))))))
DeriveFact || F66 || c1 -> c55 || L83 L82
AddFact || F67 || c56 <-> (! RobotMoving_15_presence) || 1235 1246
Def || L84 || c57 <-> EXISTS p_Measure_507: Measure. (p_Measure_507_presence & ((RobotMoving_15_time = p_Measure_507_time) & (((! (True & p_Measure_507_bumpHuman)) | EXISTS p_InquireSafety_45: InquireSafety. (p_InquireSafety_45_presence & ((p_InquireSafety_45_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_InquireSafety_45_time)))) & ((! ((True & (! p_Measure_507_bumpHuman)) & p_Measure_507_humanTooClose)) | EXISTS p_AdjustRoute_119: AdjustRoute. (p_AdjustRoute_119_presence & ((p_AdjustRoute_119_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_119_time)))) & ((! (((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & p_Measure_507_humanInRoute)) | EXISTS p_AdjustRoute_118: AdjustRoute. (p_AdjustRoute_118_presence & ((p_AdjustRoute_118_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_118_time)))) & ((! ((((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & (! p_Measure_507_humanInRoute)) & True)) | EXISTS p_AvoidBumping_93: AvoidBumping. (p_AvoidBumping_93_presence & ((p_AvoidBumping_93_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_93_time)))))))
DeriveFact || F68 || c55 -> (c56 | c57) || F67 L84 L83
DeriveLemma || EI L84  [p_Measure_507:Measure<-t_Measure_339] || L85 || c57 -> (t_Measure_339_presence & ((RobotMoving_15_time = t_Measure_339_time) & (((! (True & t_Measure_339_bumpHuman)) | EXISTS p_InquireSafety_44: InquireSafety. (p_InquireSafety_44_presence & ((p_InquireSafety_44_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_InquireSafety_44_time)))) & ((! ((True & (! t_Measure_339_bumpHuman)) & t_Measure_339_humanTooClose)) | EXISTS p_AdjustRoute_117: AdjustRoute. (p_AdjustRoute_117_presence & ((p_AdjustRoute_117_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_117_time)))) & ((! (((True & (! t_Measure_339_bumpHuman)) & (! t_Measure_339_humanTooClose)) & t_Measure_339_humanInRoute)) | EXISTS p_AdjustRoute_116: AdjustRoute. (p_AdjustRoute_116_presence & ((p_AdjustRoute_116_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_116_time)))) & ((! ((((True & (! t_Measure_339_bumpHuman)) & (! t_Measure_339_humanTooClose)) & (! t_Measure_339_humanInRoute)) & True)) | EXISTS p_AvoidBumping_92: AvoidBumping. (p_AvoidBumping_92_presence & ((p_AvoidBumping_92_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_92_time)))))))
Def || L86 || c58 <-> (t_Measure_339_presence & ((RobotMoving_15_time = t_Measure_339_time) & (((! (True & t_Measure_339_bumpHuman)) | EXISTS p_InquireSafety_44: InquireSafety. (p_InquireSafety_44_presence & ((p_InquireSafety_44_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_InquireSafety_44_time)))) & ((! ((True & (! t_Measure_339_bumpHuman)) & t_Measure_339_humanTooClose)) | EXISTS p_AdjustRoute_117: AdjustRoute. (p_AdjustRoute_117_presence & ((p_AdjustRoute_117_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_117_time)))) & ((! (((True & (! t_Measure_339_bumpHuman)) & (! t_Measure_339_humanTooClose)) & t_Measure_339_humanInRoute)) | EXISTS p_AdjustRoute_116: AdjustRoute. (p_AdjustRoute_116_presence & ((p_AdjustRoute_116_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_116_time)))) & ((! ((((True & (! t_Measure_339_bumpHuman)) & (! t_Measure_339_humanTooClose)) & (! t_Measure_339_humanInRoute)) & True)) | EXISTS p_AvoidBumping_92: AvoidBumping. (p_AvoidBumping_92_presence & ((p_AvoidBumping_92_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_92_time)))))))
DeriveFact || F69 || c57 -> c58 || L86 L85
AddFact || F70 || c59 <-> t_Measure_339_presence
Def || L87 || c60 <-> ((RobotMoving_15_time = t_Measure_339_time) & (((! (True & t_Measure_339_bumpHuman)) | EXISTS p_InquireSafety_44: InquireSafety. (p_InquireSafety_44_presence & ((p_InquireSafety_44_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_InquireSafety_44_time)))) & ((! ((True & (! t_Measure_339_bumpHuman)) & t_Measure_339_humanTooClose)) | EXISTS p_AdjustRoute_117: AdjustRoute. (p_AdjustRoute_117_presence & ((p_AdjustRoute_117_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_117_time)))) & ((! (((True & (! t_Measure_339_bumpHuman)) & (! t_Measure_339_humanTooClose)) & t_Measure_339_humanInRoute)) | EXISTS p_AdjustRoute_116: AdjustRoute. (p_AdjustRoute_116_presence & ((p_AdjustRoute_116_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_116_time)))) & ((! ((((True & (! t_Measure_339_bumpHuman)) & (! t_Measure_339_humanTooClose)) & (! t_Measure_339_humanInRoute)) & True)) | EXISTS p_AvoidBumping_92: AvoidBumping. (p_AvoidBumping_92_presence & ((p_AvoidBumping_92_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_92_time))))))
DeriveFact || F71 || c58 -> (c59) || F70 L86
DeriveFact || F72 || c58 -> (c60) || L87 L86
AddFact || F73 || c61 <-> (RobotMoving_15_time = t_Measure_339_time)
Def || L88 || c62 <-> (((! (True & t_Measure_339_bumpHuman)) | EXISTS p_InquireSafety_44: InquireSafety. (p_InquireSafety_44_presence & ((p_InquireSafety_44_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_InquireSafety_44_time)))) & ((! ((True & (! t_Measure_339_bumpHuman)) & t_Measure_339_humanTooClose)) | EXISTS p_AdjustRoute_117: AdjustRoute. (p_AdjustRoute_117_presence & ((p_AdjustRoute_117_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_117_time)))) & ((! (((True & (! t_Measure_339_bumpHuman)) & (! t_Measure_339_humanTooClose)) & t_Measure_339_humanInRoute)) | EXISTS p_AdjustRoute_116: AdjustRoute. (p_AdjustRoute_116_presence & ((p_AdjustRoute_116_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_116_time)))) & ((! ((((True & (! t_Measure_339_bumpHuman)) & (! t_Measure_339_humanTooClose)) & (! t_Measure_339_humanInRoute)) & True)) | EXISTS p_AvoidBumping_92: AvoidBumping. (p_AvoidBumping_92_presence & ((p_AvoidBumping_92_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_92_time)))))
DeriveFact || F74 || c60 -> (c61) || F73 L87
DeriveFact || F75 || c60 -> (c62) || L88 L87
Def || L89 || c63 <-> ((! (True & t_Measure_339_bumpHuman)) | EXISTS p_InquireSafety_44: InquireSafety. (p_InquireSafety_44_presence & ((p_InquireSafety_44_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_InquireSafety_44_time))))
Def || L90 || c64 <-> ((! ((True & (! t_Measure_339_bumpHuman)) & t_Measure_339_humanTooClose)) | EXISTS p_AdjustRoute_117: AdjustRoute. (p_AdjustRoute_117_presence & ((p_AdjustRoute_117_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_117_time))))
Def || L91 || c65 <-> ((! (((True & (! t_Measure_339_bumpHuman)) & (! t_Measure_339_humanTooClose)) & t_Measure_339_humanInRoute)) | EXISTS p_AdjustRoute_116: AdjustRoute. (p_AdjustRoute_116_presence & ((p_AdjustRoute_116_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_116_time))))
Def || L92 || c66 <-> ((! ((((True & (! t_Measure_339_bumpHuman)) & (! t_Measure_339_humanTooClose)) & (! t_Measure_339_humanInRoute)) & True)) | EXISTS p_AvoidBumping_92: AvoidBumping. (p_AvoidBumping_92_presence & ((p_AvoidBumping_92_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_92_time))))
DeriveFact || F76 || c62 -> (c63) || L89 L88
DeriveFact || F77 || c62 -> (c64) || L90 L88
DeriveFact || F78 || c62 -> (c65) || L91 L88
DeriveFact || F79 || c62 -> (c66) || L92 L88
Def || L93 || c67 <-> (! (True & t_Measure_339_bumpHuman))
Def || L94 || c68 <-> EXISTS p_InquireSafety_44: InquireSafety. (p_InquireSafety_44_presence & ((p_InquireSafety_44_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_InquireSafety_44_time)))
DeriveFact || F80 || c63 -> (c67 | c68) || L93 L94 L89
DeriveLemma || NNF L93 || L95 || c67 <-> ((! True) | (! t_Measure_339_bumpHuman)) 
Def || L96 || c69 <-> ((! True) | (! t_Measure_339_bumpHuman))
DeriveFact || F81 || c67 -> c69 || L96 L95
AddFact || F82 || c70 <-> (! True)
AddFact || F83 || c71 <-> (! t_Measure_339_bumpHuman) || 1363 1374
DeriveFact || F84 || c69 -> (c70 | c71) || F82 F83 L96
DeriveLemma || EI L94  [p_InquireSafety_44:InquireSafety<-t_InquireSafety_20] || L97 || c68 -> (t_InquireSafety_20_presence & ((t_InquireSafety_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_InquireSafety_20_time)))
Def || L98 || c72 <-> (t_InquireSafety_20_presence & ((t_InquireSafety_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_InquireSafety_20_time)))
DeriveFact || F85 || c68 -> c72 || L98 L97
AddFact || F86 || c73 <-> t_InquireSafety_20_presence || 1380 1393
AddFact || F87 || c74 <-> ((t_InquireSafety_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_InquireSafety_20_time))
DeriveFact || F88 || c72 -> (c73) || F86 L98
DeriveFact || F89 || c72 -> (c74) || F87 L98
Def || L99 || c75 <-> (! ((True & (! t_Measure_339_bumpHuman)) & t_Measure_339_humanTooClose))
Def || L100 || c76 <-> EXISTS p_AdjustRoute_117: AdjustRoute. (p_AdjustRoute_117_presence & ((p_AdjustRoute_117_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_117_time)))
DeriveFact || F90 || c64 -> (c75 | c76) || L99 L100 L90
DeriveLemma || NNF L99 || L101 || c75 <-> (((! True) | t_Measure_339_bumpHuman) | (! t_Measure_339_humanTooClose)) 
Def || L102 || c77 <-> (((! True) | t_Measure_339_bumpHuman) | (! t_Measure_339_humanTooClose))
DeriveFact || F91 || c75 -> c77 || L102 L101
Def || L103 || c78 <-> ((! True) | t_Measure_339_bumpHuman)
AddFact || F92 || c79 <-> (! t_Measure_339_humanTooClose) || 1319 1334
DeriveFact || F93 || c77 -> (c78 | c79) || L103 F92 L102
AddFact || F94 || c80 <-> t_Measure_339_bumpHuman || 1363 1374
DeriveFact || F95 || c78 -> (c70 | c80) || F82 F94 L103
DeriveLemma || EI L100  [p_AdjustRoute_117:AdjustRoute<-t_AdjustRoute_52] || L104 || c76 -> (t_AdjustRoute_52_presence & ((t_AdjustRoute_52_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_52_time)))
Def || L105 || c81 <-> (t_AdjustRoute_52_presence & ((t_AdjustRoute_52_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_52_time)))
DeriveFact || F96 || c76 -> c81 || L105 L104
AddFact || F97 || c82 <-> t_AdjustRoute_52_presence || 1340 1351
AddFact || F98 || c83 <-> ((t_AdjustRoute_52_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_52_time))
DeriveFact || F99 || c81 -> (c82) || F97 L105
DeriveFact || F100 || c81 -> (c83) || F98 L105
Def || L106 || c84 <-> (! (((True & (! t_Measure_339_bumpHuman)) & (! t_Measure_339_humanTooClose)) & t_Measure_339_humanInRoute))
Def || L107 || c85 <-> EXISTS p_AdjustRoute_116: AdjustRoute. (p_AdjustRoute_116_presence & ((p_AdjustRoute_116_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_116_time)))
DeriveFact || F101 || c65 -> (c84 | c85) || L106 L107 L91
DeriveLemma || NNF L106 || L108 || c84 <-> ((((! True) | t_Measure_339_bumpHuman) | t_Measure_339_humanTooClose) | (! t_Measure_339_humanInRoute)) 
Def || L109 || c86 <-> ((((! True) | t_Measure_339_bumpHuman) | t_Measure_339_humanTooClose) | (! t_Measure_339_humanInRoute))
DeriveFact || F102 || c84 -> c86 || L109 L108
Def || L110 || c87 <-> (((! True) | t_Measure_339_bumpHuman) | t_Measure_339_humanTooClose)
AddFact || F103 || c88 <-> (! t_Measure_339_humanInRoute) || 1276 1290
DeriveFact || F104 || c86 -> (c87 | c88) || L110 F103 L109
AddFact || F105 || c89 <-> t_Measure_339_humanTooClose || 1319 1334
DeriveFact || F106 || c87 -> (c78 | c89) || L103 F105 L110
DeriveLemma || EI L107  [p_AdjustRoute_116:AdjustRoute<-t_AdjustRoute_53] || L111 || c85 -> (t_AdjustRoute_53_presence & ((t_AdjustRoute_53_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_53_time)))
Def || L112 || c90 <-> (t_AdjustRoute_53_presence & ((t_AdjustRoute_53_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_53_time)))
DeriveFact || F107 || c85 -> c90 || L112 L111
AddFact || F108 || c91 <-> t_AdjustRoute_53_presence || 1296 1307
AddFact || F109 || c92 <-> ((t_AdjustRoute_53_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_53_time))
DeriveFact || F110 || c90 -> (c91) || F108 L112
DeriveFact || F111 || c90 -> (c92) || F109 L112
Def || L113 || c93 <-> (! ((((True & (! t_Measure_339_bumpHuman)) & (! t_Measure_339_humanTooClose)) & (! t_Measure_339_humanInRoute)) & True))
Def || L114 || c94 <-> EXISTS p_AvoidBumping_92: AvoidBumping. (p_AvoidBumping_92_presence & ((p_AvoidBumping_92_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_92_time)))
DeriveFact || F112 || c66 -> (c93 | c94) || L113 L114 L92
DeriveLemma || NNF L113 || L115 || c93 <-> (((((! True) | t_Measure_339_bumpHuman) | t_Measure_339_humanTooClose) | t_Measure_339_humanInRoute) | (! True)) 
Def || L116 || c95 <-> (((((! True) | t_Measure_339_bumpHuman) | t_Measure_339_humanTooClose) | t_Measure_339_humanInRoute) | (! True))
DeriveFact || F113 || c93 -> c95 || L116 L115
Def || L117 || c96 <-> ((((! True) | t_Measure_339_bumpHuman) | t_Measure_339_humanTooClose) | t_Measure_339_humanInRoute)
DeriveFact || F114 || c95 -> (c96 | c70) || L117 F82 L116
AddFact || F115 || c97 <-> t_Measure_339_humanInRoute || 1276 1290
DeriveFact || F116 || c96 -> (c87 | c97) || L110 F115 L117
DeriveLemma || EI L114  [p_AvoidBumping_92:AvoidBumping<-t_AvoidBumping_40] || L118 || c94 -> (t_AvoidBumping_40_presence & ((t_AvoidBumping_40_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_40_time)))
Def || L119 || c98 <-> (t_AvoidBumping_40_presence & ((t_AvoidBumping_40_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_40_time)))
DeriveFact || F117 || c94 -> c98 || L119 L118
AddFact || F118 || c99 <-> t_AvoidBumping_40_presence || 1252 1264
AddFact || F119 || c100 <-> ((t_AvoidBumping_40_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_40_time))
DeriveFact || F120 || c98 -> (c99) || F118 L119
DeriveFact || F121 || c98 -> (c100) || F119 L119
Def || L120 || c101 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_507: Measure. (p_Measure_507_presence & ((RobotMoving_15_time = p_Measure_507_time) & (((! (True & p_Measure_507_bumpHuman)) | EXISTS p_InquireSafety_45: InquireSafety. (p_InquireSafety_45_presence & ((p_InquireSafety_45_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_InquireSafety_45_time)))) & ((! ((True & (! p_Measure_507_bumpHuman)) & p_Measure_507_humanTooClose)) | EXISTS p_AdjustRoute_119: AdjustRoute. (p_AdjustRoute_119_presence & ((p_AdjustRoute_119_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_119_time)))) & ((! (((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & p_Measure_507_humanInRoute)) | EXISTS p_AdjustRoute_118: AdjustRoute. (p_AdjustRoute_118_presence & ((p_AdjustRoute_118_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_118_time)))) & ((! ((((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & (! p_Measure_507_humanInRoute)) & True)) | EXISTS p_AvoidBumping_93: AvoidBumping. (p_AvoidBumping_93_presence & ((p_AvoidBumping_93_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_93_time))))))))
DeriveFact || F122 || c101 -> (c56 | c57) || F67 L84 L120
Def || L121 || c102 <-> (t_InquireSafety_20_presence & ((t_InquireSafety_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_InquireSafety_20_time)))
DeriveFact || F123 || c102 -> (c73) || F86 L121
DeriveFact || F124 || c102 -> (c74) || F87 L121
Def || L122 || c103 <-> (t_AdjustRoute_52_presence & ((t_AdjustRoute_52_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_52_time)))
DeriveFact || F125 || c103 -> (c82) || F97 L122
DeriveFact || F126 || c103 -> (c83) || F98 L122
Def || L123 || c104 <-> (t_AdjustRoute_53_presence & ((t_AdjustRoute_53_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_53_time)))
DeriveFact || F127 || c104 -> (c91) || F108 L123
DeriveFact || F128 || c104 -> (c92) || F109 L123
Def || L124 || c105 <-> (t_AvoidBumping_40_presence & ((t_AvoidBumping_40_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_40_time)))
DeriveFact || F129 || c105 -> (c99) || F118 L124
DeriveFact || F130 || c105 -> (c100) || F119 L124
Def || L125 || c106 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_507: Measure. (p_Measure_507_presence & ((RobotMoving_15_time = p_Measure_507_time) & (((! (True & p_Measure_507_bumpHuman)) | EXISTS p_InquireSafety_45: InquireSafety. (p_InquireSafety_45_presence & ((p_InquireSafety_45_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_InquireSafety_45_time)))) & ((! ((True & (! p_Measure_507_bumpHuman)) & p_Measure_507_humanTooClose)) | EXISTS p_AdjustRoute_119: AdjustRoute. (p_AdjustRoute_119_presence & ((p_AdjustRoute_119_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_119_time)))) & ((! (((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & p_Measure_507_humanInRoute)) | EXISTS p_AdjustRoute_118: AdjustRoute. (p_AdjustRoute_118_presence & ((p_AdjustRoute_118_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_118_time)))) & ((! ((((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & (! p_Measure_507_humanInRoute)) & True)) | EXISTS p_AvoidBumping_93: AvoidBumping. (p_AvoidBumping_93_presence & ((p_AvoidBumping_93_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_93_time))))))))
DeriveFact || F131 || c106 -> (c56 | c57) || F67 L84 L125
Def || L126 || c107 <-> (t_InquireSafety_20_presence & ((t_InquireSafety_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_InquireSafety_20_time)))
DeriveFact || F132 || c107 -> (c73) || F86 L126
DeriveFact || F133 || c107 -> (c74) || F87 L126
Def || L127 || c108 <-> (t_AdjustRoute_52_presence & ((t_AdjustRoute_52_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_52_time)))
DeriveFact || F134 || c108 -> (c82) || F97 L127
DeriveFact || F135 || c108 -> (c83) || F98 L127
Def || L128 || c109 <-> (t_AdjustRoute_53_presence & ((t_AdjustRoute_53_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_53_time)))
DeriveFact || F136 || c109 -> (c91) || F108 L128
DeriveFact || F137 || c109 -> (c92) || F109 L128
Def || L129 || c110 <-> (t_AvoidBumping_40_presence & ((t_AvoidBumping_40_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_40_time)))
DeriveFact || F138 || c110 -> (c99) || F118 L129
DeriveFact || F139 || c110 -> (c100) || F119 L129
DeriveLemma || UI L5 [p_RobotMoving_2:RobotMoving<-RobotMoving_15]  || L130 || c2 -> ((! RobotMoving_15_presence) | EXISTS p_Measure_508: Measure. (p_Measure_508_presence & ((RobotMoving_15_time = p_Measure_508_time) & ((! (p_Measure_508_humanInRange | (p_Measure_508_humanTooClose | (! p_Measure_508_routeAvailable)))) | EXISTS p_AvoidBumping_95: AvoidBumping. (p_AvoidBumping_95_presence & ((p_AvoidBumping_95_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_95_time))))))) || L67
Def || L131 || c111 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_508: Measure. (p_Measure_508_presence & ((RobotMoving_15_time = p_Measure_508_time) & ((! (p_Measure_508_humanInRange | (p_Measure_508_humanTooClose | (! p_Measure_508_routeAvailable)))) | EXISTS p_AvoidBumping_95: AvoidBumping. (p_AvoidBumping_95_presence & ((p_AvoidBumping_95_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_95_time)))))))
DeriveFact || F140 || c2 -> c111 || L131 L130
Def || L132 || c112 <-> EXISTS p_Measure_508: Measure. (p_Measure_508_presence & ((RobotMoving_15_time = p_Measure_508_time) & ((! (p_Measure_508_humanInRange | (p_Measure_508_humanTooClose | (! p_Measure_508_routeAvailable)))) | EXISTS p_AvoidBumping_95: AvoidBumping. (p_AvoidBumping_95_presence & ((p_AvoidBumping_95_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_95_time))))))
DeriveFact || F141 || c111 -> (c56 | c112) || F67 L132 L131
DeriveLemma || EI L132  [p_Measure_508:Measure<-t_Measure_340] || L133 || c112 -> (t_Measure_340_presence & ((RobotMoving_15_time = t_Measure_340_time) & ((! (t_Measure_340_humanInRange | (t_Measure_340_humanTooClose | (! t_Measure_340_routeAvailable)))) | EXISTS p_AvoidBumping_94: AvoidBumping. (p_AvoidBumping_94_presence & ((p_AvoidBumping_94_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_94_time))))))
Def || L134 || c113 <-> (t_Measure_340_presence & ((RobotMoving_15_time = t_Measure_340_time) & ((! (t_Measure_340_humanInRange | (t_Measure_340_humanTooClose | (! t_Measure_340_routeAvailable)))) | EXISTS p_AvoidBumping_94: AvoidBumping. (p_AvoidBumping_94_presence & ((p_AvoidBumping_94_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_94_time))))))
DeriveFact || F142 || c112 -> c113 || L134 L133
AddFact || F143 || c114 <-> t_Measure_340_presence
Def || L135 || c115 <-> ((RobotMoving_15_time = t_Measure_340_time) & ((! (t_Measure_340_humanInRange | (t_Measure_340_humanTooClose | (! t_Measure_340_routeAvailable)))) | EXISTS p_AvoidBumping_94: AvoidBumping. (p_AvoidBumping_94_presence & ((p_AvoidBumping_94_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_94_time)))))
DeriveFact || F144 || c113 -> (c114) || F143 L134
DeriveFact || F145 || c113 -> (c115) || L135 L134
AddFact || F146 || c116 <-> (RobotMoving_15_time = t_Measure_340_time)
Def || L136 || c117 <-> ((! (t_Measure_340_humanInRange | (t_Measure_340_humanTooClose | (! t_Measure_340_routeAvailable)))) | EXISTS p_AvoidBumping_94: AvoidBumping. (p_AvoidBumping_94_presence & ((p_AvoidBumping_94_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_94_time))))
DeriveFact || F147 || c115 -> (c116) || F146 L135
DeriveFact || F148 || c115 -> (c117) || L136 L135
Def || L137 || c118 <-> (! (t_Measure_340_humanInRange | (t_Measure_340_humanTooClose | (! t_Measure_340_routeAvailable))))
Def || L138 || c119 <-> EXISTS p_AvoidBumping_94: AvoidBumping. (p_AvoidBumping_94_presence & ((p_AvoidBumping_94_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_94_time)))
DeriveFact || F149 || c117 -> (c118 | c119) || L137 L138 L136
DeriveLemma || NNF L137 || L139 || c118 <-> ((! t_Measure_340_humanInRange) & ((! t_Measure_340_humanTooClose) & t_Measure_340_routeAvailable)) 
Def || L140 || c120 <-> ((! t_Measure_340_humanInRange) & ((! t_Measure_340_humanTooClose) & t_Measure_340_routeAvailable))
DeriveFact || F150 || c118 -> c120 || L140 L139
AddFact || F151 || c121 <-> (! t_Measure_340_humanInRange) || 1469 1483
Def || L141 || c122 <-> ((! t_Measure_340_humanTooClose) & t_Measure_340_routeAvailable)
DeriveFact || F152 || c120 -> (c121) || F151 L140
DeriveFact || F153 || c120 -> (c122) || L141 L140
AddFact || F154 || c123 <-> (! t_Measure_340_humanTooClose) || 1488 1503
AddFact || F155 || c124 <-> t_Measure_340_routeAvailable || 1512 1528
DeriveFact || F156 || c122 -> (c123) || F154 L141
DeriveFact || F157 || c122 -> (c124) || F155 L141
DeriveLemma || EI L138  [p_AvoidBumping_94:AvoidBumping<-t_AvoidBumping_41] || L142 || c119 -> (t_AvoidBumping_41_presence & ((t_AvoidBumping_41_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_41_time)))
Def || L143 || c125 <-> (t_AvoidBumping_41_presence & ((t_AvoidBumping_41_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_41_time)))
DeriveFact || F158 || c119 -> c125 || L143 L142
AddFact || F159 || c126 <-> t_AvoidBumping_41_presence || 1537 1549
AddFact || F160 || c127 <-> ((t_AvoidBumping_41_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_41_time))
DeriveFact || F161 || c125 -> (c126) || F159 L143
DeriveFact || F162 || c125 -> (c127) || F160 L143
Def || L144 || c128 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_507: Measure. (p_Measure_507_presence & ((RobotMoving_15_time = p_Measure_507_time) & (((! (True & p_Measure_507_bumpHuman)) | EXISTS p_InquireSafety_45: InquireSafety. (p_InquireSafety_45_presence & ((p_InquireSafety_45_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_InquireSafety_45_time)))) & ((! ((True & (! p_Measure_507_bumpHuman)) & p_Measure_507_humanTooClose)) | EXISTS p_AdjustRoute_119: AdjustRoute. (p_AdjustRoute_119_presence & ((p_AdjustRoute_119_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_119_time)))) & ((! (((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & p_Measure_507_humanInRoute)) | EXISTS p_AdjustRoute_118: AdjustRoute. (p_AdjustRoute_118_presence & ((p_AdjustRoute_118_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_118_time)))) & ((! ((((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & (! p_Measure_507_humanInRoute)) & True)) | EXISTS p_AvoidBumping_93: AvoidBumping. (p_AvoidBumping_93_presence & ((p_AvoidBumping_93_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_93_time))))))))
DeriveFact || F163 || c128 -> (c56 | c57) || F67 L84 L144
Def || L145 || c129 <-> (t_InquireSafety_20_presence & ((t_InquireSafety_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_InquireSafety_20_time)))
DeriveFact || F164 || c129 -> (c73) || F86 L145
DeriveFact || F165 || c129 -> (c74) || F87 L145
Def || L146 || c130 <-> (t_AdjustRoute_52_presence & ((t_AdjustRoute_52_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_52_time)))
DeriveFact || F166 || c130 -> (c82) || F97 L146
DeriveFact || F167 || c130 -> (c83) || F98 L146
Def || L147 || c131 <-> (t_AdjustRoute_53_presence & ((t_AdjustRoute_53_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_53_time)))
DeriveFact || F168 || c131 -> (c91) || F108 L147
DeriveFact || F169 || c131 -> (c92) || F109 L147
Def || L148 || c132 <-> (t_AvoidBumping_40_presence & ((t_AvoidBumping_40_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_40_time)))
DeriveFact || F170 || c132 -> (c99) || F118 L148
DeriveFact || F171 || c132 -> (c100) || F119 L148
Def || L149 || c133 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_508: Measure. (p_Measure_508_presence & ((RobotMoving_15_time = p_Measure_508_time) & ((! (p_Measure_508_humanInRange | (p_Measure_508_humanTooClose | (! p_Measure_508_routeAvailable)))) | EXISTS p_AvoidBumping_95: AvoidBumping. (p_AvoidBumping_95_presence & ((p_AvoidBumping_95_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_95_time)))))))
DeriveFact || F172 || c133 -> (c56 | c112) || F67 L132 L149
Def || L150 || c134 <-> (t_AvoidBumping_41_presence & ((t_AvoidBumping_41_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_41_time)))
DeriveFact || F173 || c134 -> (c126) || F159 L150
DeriveFact || F174 || c134 -> (c127) || F160 L150
DeriveLemma || UI L7 [p_RobotMoving_4:RobotMoving<-RobotMoving_15]  || L151 || c3 -> ((! RobotMoving_15_presence) | EXISTS p_Measure_509: Measure. (p_Measure_509_presence & ((RobotMoving_15_time = p_Measure_509_time) & EXISTS p_AccountHumanRandomness_47: AccountHumanRandomness. (p_AccountHumanRandomness_47_presence & ((p_AccountHumanRandomness_47_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AccountHumanRandomness_47_time)))))) || L67
Def || L152 || c135 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_509: Measure. (p_Measure_509_presence & ((RobotMoving_15_time = p_Measure_509_time) & EXISTS p_AccountHumanRandomness_47: AccountHumanRandomness. (p_AccountHumanRandomness_47_presence & ((p_AccountHumanRandomness_47_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AccountHumanRandomness_47_time))))))
DeriveFact || F175 || c3 -> c135 || L152 L151
Def || L153 || c136 <-> EXISTS p_Measure_509: Measure. (p_Measure_509_presence & ((RobotMoving_15_time = p_Measure_509_time) & EXISTS p_AccountHumanRandomness_47: AccountHumanRandomness. (p_AccountHumanRandomness_47_presence & ((p_AccountHumanRandomness_47_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AccountHumanRandomness_47_time)))))
DeriveFact || F176 || c135 -> (c56 | c136) || F67 L153 L152
DeriveLemma || EI L153  [p_Measure_509:Measure<-t_Measure_341] || L154 || c136 -> (t_Measure_341_presence & ((RobotMoving_15_time = t_Measure_341_time) & EXISTS p_AccountHumanRandomness_46: AccountHumanRandomness. (p_AccountHumanRandomness_46_presence & ((p_AccountHumanRandomness_46_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AccountHumanRandomness_46_time)))))
Def || L155 || c137 <-> (t_Measure_341_presence & ((RobotMoving_15_time = t_Measure_341_time) & EXISTS p_AccountHumanRandomness_46: AccountHumanRandomness. (p_AccountHumanRandomness_46_presence & ((p_AccountHumanRandomness_46_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AccountHumanRandomness_46_time)))))
DeriveFact || F177 || c136 -> c137 || L155 L154
AddFact || F178 || c138 <-> t_Measure_341_presence
Def || L156 || c139 <-> ((RobotMoving_15_time = t_Measure_341_time) & EXISTS p_AccountHumanRandomness_46: AccountHumanRandomness. (p_AccountHumanRandomness_46_presence & ((p_AccountHumanRandomness_46_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AccountHumanRandomness_46_time))))
DeriveFact || F179 || c137 -> (c138) || F178 L155
DeriveFact || F180 || c137 -> (c139) || L156 L155
AddFact || F181 || c140 <-> (RobotMoving_15_time = t_Measure_341_time)
Def || L157 || c141 <-> EXISTS p_AccountHumanRandomness_46: AccountHumanRandomness. (p_AccountHumanRandomness_46_presence & ((p_AccountHumanRandomness_46_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AccountHumanRandomness_46_time)))
DeriveFact || F182 || c139 -> (c140) || F181 L156
DeriveFact || F183 || c139 -> (c141) || L157 L156
DeriveLemma || EI L157  [p_AccountHumanRandomness_46:AccountHumanRandomness<-t_AccountHumanRandomness_20] || L158 || c141 -> (t_AccountHumanRandomness_20_presence & ((t_AccountHumanRandomness_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AccountHumanRandomness_20_time)))
Def || L159 || c142 <-> (t_AccountHumanRandomness_20_presence & ((t_AccountHumanRandomness_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AccountHumanRandomness_20_time)))
DeriveFact || F184 || c141 -> c142 || L159 L158
AddFact || F185 || c143 <-> t_AccountHumanRandomness_20_presence || 1676 1698
AddFact || F186 || c144 <-> ((t_AccountHumanRandomness_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AccountHumanRandomness_20_time))
DeriveFact || F187 || c142 -> (c143) || F185 L159
DeriveFact || F188 || c142 -> (c144) || F186 L159
Def || L160 || c145 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_507: Measure. (p_Measure_507_presence & ((RobotMoving_15_time = p_Measure_507_time) & (((! (True & p_Measure_507_bumpHuman)) | EXISTS p_InquireSafety_45: InquireSafety. (p_InquireSafety_45_presence & ((p_InquireSafety_45_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_InquireSafety_45_time)))) & ((! ((True & (! p_Measure_507_bumpHuman)) & p_Measure_507_humanTooClose)) | EXISTS p_AdjustRoute_119: AdjustRoute. (p_AdjustRoute_119_presence & ((p_AdjustRoute_119_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_119_time)))) & ((! (((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & p_Measure_507_humanInRoute)) | EXISTS p_AdjustRoute_118: AdjustRoute. (p_AdjustRoute_118_presence & ((p_AdjustRoute_118_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_118_time)))) & ((! ((((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & (! p_Measure_507_humanInRoute)) & True)) | EXISTS p_AvoidBumping_93: AvoidBumping. (p_AvoidBumping_93_presence & ((p_AvoidBumping_93_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_93_time))))))))
DeriveFact || F189 || c145 -> (c56 | c57) || F67 L84 L160
Def || L161 || c146 <-> (t_InquireSafety_20_presence & ((t_InquireSafety_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_InquireSafety_20_time)))
DeriveFact || F190 || c146 -> (c73) || F86 L161
DeriveFact || F191 || c146 -> (c74) || F87 L161
Def || L162 || c147 <-> (t_AdjustRoute_52_presence & ((t_AdjustRoute_52_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_52_time)))
DeriveFact || F192 || c147 -> (c82) || F97 L162
DeriveFact || F193 || c147 -> (c83) || F98 L162
Def || L163 || c148 <-> (t_AdjustRoute_53_presence & ((t_AdjustRoute_53_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_53_time)))
DeriveFact || F194 || c148 -> (c91) || F108 L163
DeriveFact || F195 || c148 -> (c92) || F109 L163
Def || L164 || c149 <-> (t_AvoidBumping_40_presence & ((t_AvoidBumping_40_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_40_time)))
DeriveFact || F196 || c149 -> (c99) || F118 L164
DeriveFact || F197 || c149 -> (c100) || F119 L164
Def || L165 || c150 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_508: Measure. (p_Measure_508_presence & ((RobotMoving_15_time = p_Measure_508_time) & ((! (p_Measure_508_humanInRange | (p_Measure_508_humanTooClose | (! p_Measure_508_routeAvailable)))) | EXISTS p_AvoidBumping_95: AvoidBumping. (p_AvoidBumping_95_presence & ((p_AvoidBumping_95_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_95_time)))))))
DeriveFact || F198 || c150 -> (c56 | c112) || F67 L132 L165
Def || L166 || c151 <-> (t_AvoidBumping_41_presence & ((t_AvoidBumping_41_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_41_time)))
DeriveFact || F199 || c151 -> (c126) || F159 L166
DeriveFact || F200 || c151 -> (c127) || F160 L166
Def || L167 || c152 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_509: Measure. (p_Measure_509_presence & ((RobotMoving_15_time = p_Measure_509_time) & EXISTS p_AccountHumanRandomness_47: AccountHumanRandomness. (p_AccountHumanRandomness_47_presence & ((p_AccountHumanRandomness_47_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AccountHumanRandomness_47_time))))))
DeriveFact || F201 || c152 -> (c56 | c136) || F67 L153 L167
Def || L168 || c153 <-> (t_AccountHumanRandomness_20_presence & ((t_AccountHumanRandomness_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AccountHumanRandomness_20_time)))
DeriveFact || F202 || c153 -> (c143) || F185 L168
DeriveFact || F203 || c153 -> (c144) || F186 L168
Def || L169 || c154 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_507: Measure. (p_Measure_507_presence & ((RobotMoving_15_time = p_Measure_507_time) & (((! (True & p_Measure_507_bumpHuman)) | EXISTS p_InquireSafety_45: InquireSafety. (p_InquireSafety_45_presence & ((p_InquireSafety_45_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_InquireSafety_45_time)))) & ((! ((True & (! p_Measure_507_bumpHuman)) & p_Measure_507_humanTooClose)) | EXISTS p_AdjustRoute_119: AdjustRoute. (p_AdjustRoute_119_presence & ((p_AdjustRoute_119_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_119_time)))) & ((! (((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & p_Measure_507_humanInRoute)) | EXISTS p_AdjustRoute_118: AdjustRoute. (p_AdjustRoute_118_presence & ((p_AdjustRoute_118_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_118_time)))) & ((! ((((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & (! p_Measure_507_humanInRoute)) & True)) | EXISTS p_AvoidBumping_93: AvoidBumping. (p_AvoidBumping_93_presence & ((p_AvoidBumping_93_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_93_time))))))))
DeriveFact || F204 || c154 -> (c56 | c57) || F67 L84 L169
Def || L170 || c155 <-> (t_InquireSafety_20_presence & ((t_InquireSafety_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_InquireSafety_20_time)))
DeriveFact || F205 || c155 -> (c73) || F86 L170
DeriveFact || F206 || c155 -> (c74) || F87 L170
Def || L171 || c156 <-> (t_AdjustRoute_52_presence & ((t_AdjustRoute_52_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_52_time)))
DeriveFact || F207 || c156 -> (c82) || F97 L171
DeriveFact || F208 || c156 -> (c83) || F98 L171
Def || L172 || c157 <-> (t_AdjustRoute_53_presence & ((t_AdjustRoute_53_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_53_time)))
DeriveFact || F209 || c157 -> (c91) || F108 L172
DeriveFact || F210 || c157 -> (c92) || F109 L172
Def || L173 || c158 <-> (t_AvoidBumping_40_presence & ((t_AvoidBumping_40_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_40_time)))
DeriveFact || F211 || c158 -> (c99) || F118 L173
DeriveFact || F212 || c158 -> (c100) || F119 L173
Def || L174 || c159 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_508: Measure. (p_Measure_508_presence & ((RobotMoving_15_time = p_Measure_508_time) & ((! (p_Measure_508_humanInRange | (p_Measure_508_humanTooClose | (! p_Measure_508_routeAvailable)))) | EXISTS p_AvoidBumping_95: AvoidBumping. (p_AvoidBumping_95_presence & ((p_AvoidBumping_95_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_95_time)))))))
DeriveFact || F213 || c159 -> (c56 | c112) || F67 L132 L174
Def || L175 || c160 <-> (t_AvoidBumping_41_presence & ((t_AvoidBumping_41_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_41_time)))
DeriveFact || F214 || c160 -> (c126) || F159 L175
DeriveFact || F215 || c160 -> (c127) || F160 L175
Def || L176 || c161 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_509: Measure. (p_Measure_509_presence & ((RobotMoving_15_time = p_Measure_509_time) & EXISTS p_AccountHumanRandomness_47: AccountHumanRandomness. (p_AccountHumanRandomness_47_presence & ((p_AccountHumanRandomness_47_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AccountHumanRandomness_47_time))))))
DeriveFact || F216 || c161 -> (c56 | c136) || F67 L153 L176
Def || L177 || c162 <-> (t_AccountHumanRandomness_20_presence & ((t_AccountHumanRandomness_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AccountHumanRandomness_20_time)))
DeriveFact || F217 || c162 -> (c143) || F185 L177
DeriveFact || F218 || c162 -> (c144) || F186 L177
DeriveLemma || UI L9 [p_RobotMoving_6:RobotMoving<-RobotMoving_15]  || L178 || c4 -> ((! RobotMoving_15_presence) | EXISTS p_Measure_510: Measure. (p_Measure_510_presence & ((RobotMoving_15_time = p_Measure_510_time) & EXISTS p_TrackHumanLocation_81: TrackHumanLocation. (p_TrackHumanLocation_81_presence & ((p_TrackHumanLocation_81_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_TrackHumanLocation_81_time)))))) || L67
Def || L179 || c163 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_510: Measure. (p_Measure_510_presence & ((RobotMoving_15_time = p_Measure_510_time) & EXISTS p_TrackHumanLocation_81: TrackHumanLocation. (p_TrackHumanLocation_81_presence & ((p_TrackHumanLocation_81_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_TrackHumanLocation_81_time))))))
DeriveFact || F219 || c4 -> c163 || L179 L178
Def || L180 || c164 <-> EXISTS p_Measure_510: Measure. (p_Measure_510_presence & ((RobotMoving_15_time = p_Measure_510_time) & EXISTS p_TrackHumanLocation_81: TrackHumanLocation. (p_TrackHumanLocation_81_presence & ((p_TrackHumanLocation_81_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_TrackHumanLocation_81_time)))))
DeriveFact || F220 || c163 -> (c56 | c164) || F67 L180 L179
DeriveLemma || EI L180  [p_Measure_510:Measure<-t_Measure_342] || L181 || c164 -> (t_Measure_342_presence & ((RobotMoving_15_time = t_Measure_342_time) & EXISTS p_TrackHumanLocation_80: TrackHumanLocation. (p_TrackHumanLocation_80_presence & ((p_TrackHumanLocation_80_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_TrackHumanLocation_80_time)))))
Def || L182 || c165 <-> (t_Measure_342_presence & ((RobotMoving_15_time = t_Measure_342_time) & EXISTS p_TrackHumanLocation_80: TrackHumanLocation. (p_TrackHumanLocation_80_presence & ((p_TrackHumanLocation_80_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_TrackHumanLocation_80_time)))))
DeriveFact || F221 || c164 -> c165 || L182 L181
AddFact || F222 || c166 <-> t_Measure_342_presence
Def || L183 || c167 <-> ((RobotMoving_15_time = t_Measure_342_time) & EXISTS p_TrackHumanLocation_80: TrackHumanLocation. (p_TrackHumanLocation_80_presence & ((p_TrackHumanLocation_80_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_TrackHumanLocation_80_time))))
DeriveFact || F223 || c165 -> (c166) || F222 L182
DeriveFact || F224 || c165 -> (c167) || L183 L182
AddFact || F225 || c168 <-> (RobotMoving_15_time = t_Measure_342_time)
Def || L184 || c169 <-> EXISTS p_TrackHumanLocation_80: TrackHumanLocation. (p_TrackHumanLocation_80_presence & ((p_TrackHumanLocation_80_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_TrackHumanLocation_80_time)))
DeriveFact || F226 || c167 -> (c168) || F225 L183
DeriveFact || F227 || c167 -> (c169) || L184 L183
DeriveLemma || EI L184  [p_TrackHumanLocation_80:TrackHumanLocation<-t_TrackHumanLocation_20] || L185 || c169 -> (t_TrackHumanLocation_20_presence & ((t_TrackHumanLocation_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_TrackHumanLocation_20_time)))
Def || L186 || c170 <-> (t_TrackHumanLocation_20_presence & ((t_TrackHumanLocation_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_TrackHumanLocation_20_time)))
DeriveFact || F228 || c169 -> c170 || L186 L185
AddFact || F229 || c171 <-> t_TrackHumanLocation_20_presence || 1729 1747
AddFact || F230 || c172 <-> ((t_TrackHumanLocation_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_TrackHumanLocation_20_time))
DeriveFact || F231 || c170 -> (c171) || F229 L186
DeriveFact || F232 || c170 -> (c172) || F230 L186
Def || L187 || c173 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_507: Measure. (p_Measure_507_presence & ((RobotMoving_15_time = p_Measure_507_time) & (((! (True & p_Measure_507_bumpHuman)) | EXISTS p_InquireSafety_45: InquireSafety. (p_InquireSafety_45_presence & ((p_InquireSafety_45_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_InquireSafety_45_time)))) & ((! ((True & (! p_Measure_507_bumpHuman)) & p_Measure_507_humanTooClose)) | EXISTS p_AdjustRoute_119: AdjustRoute. (p_AdjustRoute_119_presence & ((p_AdjustRoute_119_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_119_time)))) & ((! (((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & p_Measure_507_humanInRoute)) | EXISTS p_AdjustRoute_118: AdjustRoute. (p_AdjustRoute_118_presence & ((p_AdjustRoute_118_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_118_time)))) & ((! ((((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & (! p_Measure_507_humanInRoute)) & True)) | EXISTS p_AvoidBumping_93: AvoidBumping. (p_AvoidBumping_93_presence & ((p_AvoidBumping_93_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_93_time))))))))
DeriveFact || F233 || c173 -> (c56 | c57) || F67 L84 L187
Def || L188 || c174 <-> (t_InquireSafety_20_presence & ((t_InquireSafety_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_InquireSafety_20_time)))
DeriveFact || F234 || c174 -> (c73) || F86 L188
DeriveFact || F235 || c174 -> (c74) || F87 L188
Def || L189 || c175 <-> (t_AdjustRoute_52_presence & ((t_AdjustRoute_52_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_52_time)))
DeriveFact || F236 || c175 -> (c82) || F97 L189
DeriveFact || F237 || c175 -> (c83) || F98 L189
Def || L190 || c176 <-> (t_AdjustRoute_53_presence & ((t_AdjustRoute_53_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_53_time)))
DeriveFact || F238 || c176 -> (c91) || F108 L190
DeriveFact || F239 || c176 -> (c92) || F109 L190
Def || L191 || c177 <-> (t_AvoidBumping_40_presence & ((t_AvoidBumping_40_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_40_time)))
DeriveFact || F240 || c177 -> (c99) || F118 L191
DeriveFact || F241 || c177 -> (c100) || F119 L191
Def || L192 || c178 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_508: Measure. (p_Measure_508_presence & ((RobotMoving_15_time = p_Measure_508_time) & ((! (p_Measure_508_humanInRange | (p_Measure_508_humanTooClose | (! p_Measure_508_routeAvailable)))) | EXISTS p_AvoidBumping_95: AvoidBumping. (p_AvoidBumping_95_presence & ((p_AvoidBumping_95_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_95_time)))))))
DeriveFact || F242 || c178 -> (c56 | c112) || F67 L132 L192
Def || L193 || c179 <-> (t_AvoidBumping_41_presence & ((t_AvoidBumping_41_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_41_time)))
DeriveFact || F243 || c179 -> (c126) || F159 L193
DeriveFact || F244 || c179 -> (c127) || F160 L193
Def || L194 || c180 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_509: Measure. (p_Measure_509_presence & ((RobotMoving_15_time = p_Measure_509_time) & EXISTS p_AccountHumanRandomness_47: AccountHumanRandomness. (p_AccountHumanRandomness_47_presence & ((p_AccountHumanRandomness_47_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AccountHumanRandomness_47_time))))))
DeriveFact || F245 || c180 -> (c56 | c136) || F67 L153 L194
Def || L195 || c181 <-> (t_AccountHumanRandomness_20_presence & ((t_AccountHumanRandomness_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AccountHumanRandomness_20_time)))
DeriveFact || F246 || c181 -> (c143) || F185 L195
DeriveFact || F247 || c181 -> (c144) || F186 L195
Def || L196 || c182 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_510: Measure. (p_Measure_510_presence & ((RobotMoving_15_time = p_Measure_510_time) & EXISTS p_TrackHumanLocation_81: TrackHumanLocation. (p_TrackHumanLocation_81_presence & ((p_TrackHumanLocation_81_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_TrackHumanLocation_81_time))))))
DeriveFact || F248 || c182 -> (c56 | c164) || F67 L180 L196
Def || L197 || c183 <-> (t_TrackHumanLocation_20_presence & ((t_TrackHumanLocation_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_TrackHumanLocation_20_time)))
DeriveFact || F249 || c183 -> (c171) || F229 L197
DeriveFact || F250 || c183 -> (c172) || F230 L197
Def || L198 || c184 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_507: Measure. (p_Measure_507_presence & ((RobotMoving_15_time = p_Measure_507_time) & (((! (True & p_Measure_507_bumpHuman)) | EXISTS p_InquireSafety_45: InquireSafety. (p_InquireSafety_45_presence & ((p_InquireSafety_45_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_InquireSafety_45_time)))) & ((! ((True & (! p_Measure_507_bumpHuman)) & p_Measure_507_humanTooClose)) | EXISTS p_AdjustRoute_119: AdjustRoute. (p_AdjustRoute_119_presence & ((p_AdjustRoute_119_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_119_time)))) & ((! (((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & p_Measure_507_humanInRoute)) | EXISTS p_AdjustRoute_118: AdjustRoute. (p_AdjustRoute_118_presence & ((p_AdjustRoute_118_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_118_time)))) & ((! ((((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & (! p_Measure_507_humanInRoute)) & True)) | EXISTS p_AvoidBumping_93: AvoidBumping. (p_AvoidBumping_93_presence & ((p_AvoidBumping_93_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_93_time))))))))
DeriveFact || F251 || c184 -> (c56 | c57) || F67 L84 L198
Def || L199 || c185 <-> (t_InquireSafety_20_presence & ((t_InquireSafety_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_InquireSafety_20_time)))
DeriveFact || F252 || c185 -> (c73) || F86 L199
DeriveFact || F253 || c185 -> (c74) || F87 L199
Def || L200 || c186 <-> (t_AdjustRoute_52_presence & ((t_AdjustRoute_52_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_52_time)))
DeriveFact || F254 || c186 -> (c82) || F97 L200
DeriveFact || F255 || c186 -> (c83) || F98 L200
Def || L201 || c187 <-> (t_AdjustRoute_53_presence & ((t_AdjustRoute_53_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_53_time)))
DeriveFact || F256 || c187 -> (c91) || F108 L201
DeriveFact || F257 || c187 -> (c92) || F109 L201
Def || L202 || c188 <-> (t_AvoidBumping_40_presence & ((t_AvoidBumping_40_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_40_time)))
DeriveFact || F258 || c188 -> (c99) || F118 L202
DeriveFact || F259 || c188 -> (c100) || F119 L202
Def || L203 || c189 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_508: Measure. (p_Measure_508_presence & ((RobotMoving_15_time = p_Measure_508_time) & ((! (p_Measure_508_humanInRange | (p_Measure_508_humanTooClose | (! p_Measure_508_routeAvailable)))) | EXISTS p_AvoidBumping_95: AvoidBumping. (p_AvoidBumping_95_presence & ((p_AvoidBumping_95_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_95_time)))))))
DeriveFact || F260 || c189 -> (c56 | c112) || F67 L132 L203
Def || L204 || c190 <-> (t_AvoidBumping_41_presence & ((t_AvoidBumping_41_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_41_time)))
DeriveFact || F261 || c190 -> (c126) || F159 L204
DeriveFact || F262 || c190 -> (c127) || F160 L204
Def || L205 || c191 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_509: Measure. (p_Measure_509_presence & ((RobotMoving_15_time = p_Measure_509_time) & EXISTS p_AccountHumanRandomness_47: AccountHumanRandomness. (p_AccountHumanRandomness_47_presence & ((p_AccountHumanRandomness_47_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AccountHumanRandomness_47_time))))))
DeriveFact || F263 || c191 -> (c56 | c136) || F67 L153 L205
Def || L206 || c192 <-> (t_AccountHumanRandomness_20_presence & ((t_AccountHumanRandomness_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AccountHumanRandomness_20_time)))
DeriveFact || F264 || c192 -> (c143) || F185 L206
DeriveFact || F265 || c192 -> (c144) || F186 L206
Def || L207 || c193 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_510: Measure. (p_Measure_510_presence & ((RobotMoving_15_time = p_Measure_510_time) & EXISTS p_TrackHumanLocation_81: TrackHumanLocation. (p_TrackHumanLocation_81_presence & ((p_TrackHumanLocation_81_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_TrackHumanLocation_81_time))))))
DeriveFact || F266 || c193 -> (c56 | c164) || F67 L180 L207
Def || L208 || c194 <-> (t_TrackHumanLocation_20_presence & ((t_TrackHumanLocation_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_TrackHumanLocation_20_time)))
DeriveFact || F267 || c194 -> (c171) || F229 L208
DeriveFact || F268 || c194 -> (c172) || F230 L208
DeriveLemma || UI L15 [p_InformHuman_0:InformHuman<-InformHuman_7]  || L209 || c7 -> ((! InformHuman_7_presence) | EXISTS p_Measure_511: Measure. (p_Measure_511_presence & ((InformHuman_7_time = p_Measure_511_time) & (((! (True & (! p_Measure_511_routeAvailable))) | EXISTS p_AskPermission_74: AskPermission. (p_AskPermission_74_presence & ((p_AskPermission_74_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AskPermission_74_time)))) & ((! ((True & p_Measure_511_routeAvailable) & p_Measure_511_humanInRoute)) | EXISTS p_AdjustRoute_121: AdjustRoute. (p_AdjustRoute_121_presence & ((p_AdjustRoute_121_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AdjustRoute_121_time)))) & ((! (((True & p_Measure_511_routeAvailable) & (! p_Measure_511_humanInRoute)) & True)) | EXISTS p_RobotMoving_418: RobotMoving. (p_RobotMoving_418_presence & ((p_RobotMoving_418_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_RobotMoving_418_time)))))))) || L68
Def || L210 || c195 <-> ((! InformHuman_7_presence) | EXISTS p_Measure_511: Measure. (p_Measure_511_presence & ((InformHuman_7_time = p_Measure_511_time) & (((! (True & (! p_Measure_511_routeAvailable))) | EXISTS p_AskPermission_74: AskPermission. (p_AskPermission_74_presence & ((p_AskPermission_74_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AskPermission_74_time)))) & ((! ((True & p_Measure_511_routeAvailable) & p_Measure_511_humanInRoute)) | EXISTS p_AdjustRoute_121: AdjustRoute. (p_AdjustRoute_121_presence & ((p_AdjustRoute_121_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AdjustRoute_121_time)))) & ((! (((True & p_Measure_511_routeAvailable) & (! p_Measure_511_humanInRoute)) & True)) | EXISTS p_RobotMoving_418: RobotMoving. (p_RobotMoving_418_presence & ((p_RobotMoving_418_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_RobotMoving_418_time))))))))
DeriveFact || F269 || c7 -> c195 || L210 L209
AddFact || F270 || c196 <-> (! InformHuman_7_presence) || 1951 1962
Def || L211 || c197 <-> EXISTS p_Measure_511: Measure. (p_Measure_511_presence & ((InformHuman_7_time = p_Measure_511_time) & (((! (True & (! p_Measure_511_routeAvailable))) | EXISTS p_AskPermission_74: AskPermission. (p_AskPermission_74_presence & ((p_AskPermission_74_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AskPermission_74_time)))) & ((! ((True & p_Measure_511_routeAvailable) & p_Measure_511_humanInRoute)) | EXISTS p_AdjustRoute_121: AdjustRoute. (p_AdjustRoute_121_presence & ((p_AdjustRoute_121_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AdjustRoute_121_time)))) & ((! (((True & p_Measure_511_routeAvailable) & (! p_Measure_511_humanInRoute)) & True)) | EXISTS p_RobotMoving_418: RobotMoving. (p_RobotMoving_418_presence & ((p_RobotMoving_418_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_RobotMoving_418_time)))))))
DeriveFact || F271 || c195 -> (c196 | c197) || F270 L211 L210
DeriveLemma || EI L211  [p_Measure_511:Measure<-t_Measure_343] || L212 || c197 -> (t_Measure_343_presence & ((InformHuman_7_time = t_Measure_343_time) & (((! (True & (! t_Measure_343_routeAvailable))) | EXISTS p_AskPermission_73: AskPermission. (p_AskPermission_73_presence & ((p_AskPermission_73_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AskPermission_73_time)))) & ((! ((True & t_Measure_343_routeAvailable) & t_Measure_343_humanInRoute)) | EXISTS p_AdjustRoute_120: AdjustRoute. (p_AdjustRoute_120_presence & ((p_AdjustRoute_120_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AdjustRoute_120_time)))) & ((! (((True & t_Measure_343_routeAvailable) & (! t_Measure_343_humanInRoute)) & True)) | EXISTS p_RobotMoving_417: RobotMoving. (p_RobotMoving_417_presence & ((p_RobotMoving_417_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_RobotMoving_417_time)))))))
Def || L213 || c198 <-> (t_Measure_343_presence & ((InformHuman_7_time = t_Measure_343_time) & (((! (True & (! t_Measure_343_routeAvailable))) | EXISTS p_AskPermission_73: AskPermission. (p_AskPermission_73_presence & ((p_AskPermission_73_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AskPermission_73_time)))) & ((! ((True & t_Measure_343_routeAvailable) & t_Measure_343_humanInRoute)) | EXISTS p_AdjustRoute_120: AdjustRoute. (p_AdjustRoute_120_presence & ((p_AdjustRoute_120_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AdjustRoute_120_time)))) & ((! (((True & t_Measure_343_routeAvailable) & (! t_Measure_343_humanInRoute)) & True)) | EXISTS p_RobotMoving_417: RobotMoving. (p_RobotMoving_417_presence & ((p_RobotMoving_417_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_RobotMoving_417_time)))))))
DeriveFact || F272 || c197 -> c198 || L213 L212
AddFact || F273 || c199 <-> t_Measure_343_presence
Def || L214 || c200 <-> ((InformHuman_7_time = t_Measure_343_time) & (((! (True & (! t_Measure_343_routeAvailable))) | EXISTS p_AskPermission_73: AskPermission. (p_AskPermission_73_presence & ((p_AskPermission_73_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AskPermission_73_time)))) & ((! ((True & t_Measure_343_routeAvailable) & t_Measure_343_humanInRoute)) | EXISTS p_AdjustRoute_120: AdjustRoute. (p_AdjustRoute_120_presence & ((p_AdjustRoute_120_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AdjustRoute_120_time)))) & ((! (((True & t_Measure_343_routeAvailable) & (! t_Measure_343_humanInRoute)) & True)) | EXISTS p_RobotMoving_417: RobotMoving. (p_RobotMoving_417_presence & ((p_RobotMoving_417_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_RobotMoving_417_time))))))
DeriveFact || F274 || c198 -> (c199) || F273 L213
DeriveFact || F275 || c198 -> (c200) || L214 L213
AddFact || F276 || c201 <-> (InformHuman_7_time = t_Measure_343_time)
Def || L215 || c202 <-> (((! (True & (! t_Measure_343_routeAvailable))) | EXISTS p_AskPermission_73: AskPermission. (p_AskPermission_73_presence & ((p_AskPermission_73_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AskPermission_73_time)))) & ((! ((True & t_Measure_343_routeAvailable) & t_Measure_343_humanInRoute)) | EXISTS p_AdjustRoute_120: AdjustRoute. (p_AdjustRoute_120_presence & ((p_AdjustRoute_120_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AdjustRoute_120_time)))) & ((! (((True & t_Measure_343_routeAvailable) & (! t_Measure_343_humanInRoute)) & True)) | EXISTS p_RobotMoving_417: RobotMoving. (p_RobotMoving_417_presence & ((p_RobotMoving_417_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_RobotMoving_417_time)))))
DeriveFact || F277 || c200 -> (c201) || F276 L214
DeriveFact || F278 || c200 -> (c202) || L215 L214
Def || L216 || c203 <-> ((! (True & (! t_Measure_343_routeAvailable))) | EXISTS p_AskPermission_73: AskPermission. (p_AskPermission_73_presence & ((p_AskPermission_73_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AskPermission_73_time))))
Def || L217 || c204 <-> ((! ((True & t_Measure_343_routeAvailable) & t_Measure_343_humanInRoute)) | EXISTS p_AdjustRoute_120: AdjustRoute. (p_AdjustRoute_120_presence & ((p_AdjustRoute_120_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AdjustRoute_120_time))))
Def || L218 || c205 <-> ((! (((True & t_Measure_343_routeAvailable) & (! t_Measure_343_humanInRoute)) & True)) | EXISTS p_RobotMoving_417: RobotMoving. (p_RobotMoving_417_presence & ((p_RobotMoving_417_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_RobotMoving_417_time))))
DeriveFact || F279 || c202 -> (c203) || L216 L215
DeriveFact || F280 || c202 -> (c204) || L217 L215
DeriveFact || F281 || c202 -> (c205) || L218 L215
Def || L219 || c206 <-> (! (True & (! t_Measure_343_routeAvailable)))
Def || L220 || c207 <-> EXISTS p_AskPermission_73: AskPermission. (p_AskPermission_73_presence & ((p_AskPermission_73_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AskPermission_73_time)))
DeriveFact || F282 || c203 -> (c206 | c207) || L219 L220 L216
DeriveLemma || NNF L219 || L221 || c206 <-> ((! True) | t_Measure_343_routeAvailable) 
Def || L222 || c208 <-> ((! True) | t_Measure_343_routeAvailable)
DeriveFact || F283 || c206 -> c208 || L222 L221
AddFact || F284 || c209 <-> t_Measure_343_routeAvailable || 2036 2052
DeriveFact || F285 || c208 -> (c70 | c209) || F82 F284 L222
DeriveLemma || EI L220  [p_AskPermission_73:AskPermission<-t_AskPermission_15] || L223 || c207 -> (t_AskPermission_15_presence & ((t_AskPermission_15_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_AskPermission_15_time)))
Def || L224 || c210 <-> (t_AskPermission_15_presence & ((t_AskPermission_15_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_AskPermission_15_time)))
DeriveFact || F286 || c207 -> c210 || L224 L223
AddFact || F287 || c211 <-> t_AskPermission_15_presence || 2059 2072
AddFact || F288 || c212 <-> ((t_AskPermission_15_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_AskPermission_15_time))
DeriveFact || F289 || c210 -> (c211) || F287 L224
DeriveFact || F290 || c210 -> (c212) || F288 L224
Def || L225 || c213 <-> (! ((True & t_Measure_343_routeAvailable) & t_Measure_343_humanInRoute))
Def || L226 || c214 <-> EXISTS p_AdjustRoute_120: AdjustRoute. (p_AdjustRoute_120_presence & ((p_AdjustRoute_120_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AdjustRoute_120_time)))
DeriveFact || F291 || c204 -> (c213 | c214) || L225 L226 L217
DeriveLemma || NNF L225 || L227 || c213 <-> (((! True) | (! t_Measure_343_routeAvailable)) | (! t_Measure_343_humanInRoute)) 
Def || L228 || c215 <-> (((! True) | (! t_Measure_343_routeAvailable)) | (! t_Measure_343_humanInRoute))
DeriveFact || F292 || c213 -> c215 || L228 L227
Def || L229 || c216 <-> ((! True) | (! t_Measure_343_routeAvailable))
AddFact || F293 || c217 <-> (! t_Measure_343_humanInRoute) || 1987 2001
DeriveFact || F294 || c215 -> (c216 | c217) || L229 F293 L228
AddFact || F295 || c218 <-> (! t_Measure_343_routeAvailable) || 2036 2052
DeriveFact || F296 || c216 -> (c70 | c218) || F82 F295 L229
DeriveLemma || EI L226  [p_AdjustRoute_120:AdjustRoute<-t_AdjustRoute_54] || L230 || c214 -> (t_AdjustRoute_54_presence & ((t_AdjustRoute_54_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_AdjustRoute_54_time)))
Def || L231 || c219 <-> (t_AdjustRoute_54_presence & ((t_AdjustRoute_54_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_AdjustRoute_54_time)))
DeriveFact || F297 || c214 -> c219 || L231 L230
AddFact || F298 || c220 <-> t_AdjustRoute_54_presence || 2007 2018
AddFact || F299 || c221 <-> ((t_AdjustRoute_54_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_AdjustRoute_54_time))
DeriveFact || F300 || c219 -> (c220) || F298 L231
DeriveFact || F301 || c219 -> (c221) || F299 L231
Def || L232 || c222 <-> (! (((True & t_Measure_343_routeAvailable) & (! t_Measure_343_humanInRoute)) & True))
Def || L233 || c223 <-> EXISTS p_RobotMoving_417: RobotMoving. (p_RobotMoving_417_presence & ((p_RobotMoving_417_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_RobotMoving_417_time)))
DeriveFact || F302 || c205 -> (c222 | c223) || L232 L233 L218
DeriveLemma || NNF L232 || L234 || c222 <-> ((((! True) | (! t_Measure_343_routeAvailable)) | t_Measure_343_humanInRoute) | (! True)) 
Def || L235 || c224 <-> ((((! True) | (! t_Measure_343_routeAvailable)) | t_Measure_343_humanInRoute) | (! True))
DeriveFact || F303 || c222 -> c224 || L235 L234
Def || L236 || c225 <-> (((! True) | (! t_Measure_343_routeAvailable)) | t_Measure_343_humanInRoute)
DeriveFact || F304 || c224 -> (c225 | c70) || L236 F82 L235
AddFact || F305 || c226 <-> t_Measure_343_humanInRoute || 1987 2001
DeriveFact || F306 || c225 -> (c216 | c226) || L229 F305 L236
DeriveLemma || EI L233  [p_RobotMoving_417:RobotMoving<-t_RobotMoving_15] || L237 || c223 -> (t_RobotMoving_15_presence & ((t_RobotMoving_15_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_RobotMoving_15_time)))
Def || L238 || c227 <-> (t_RobotMoving_15_presence & ((t_RobotMoving_15_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_RobotMoving_15_time)))
DeriveFact || F307 || c223 -> c227 || L238 L237
AddFact || F308 || c228 <-> t_RobotMoving_15_presence || 1968 1979
AddFact || F309 || c229 <-> ((t_RobotMoving_15_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_RobotMoving_15_time))
DeriveFact || F310 || c227 -> (c228) || F308 L238
DeriveFact || F311 || c227 -> (c229) || F309 L238
Def || L239 || c230 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_507: Measure. (p_Measure_507_presence & ((RobotMoving_15_time = p_Measure_507_time) & (((! (True & p_Measure_507_bumpHuman)) | EXISTS p_InquireSafety_45: InquireSafety. (p_InquireSafety_45_presence & ((p_InquireSafety_45_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_InquireSafety_45_time)))) & ((! ((True & (! p_Measure_507_bumpHuman)) & p_Measure_507_humanTooClose)) | EXISTS p_AdjustRoute_119: AdjustRoute. (p_AdjustRoute_119_presence & ((p_AdjustRoute_119_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_119_time)))) & ((! (((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & p_Measure_507_humanInRoute)) | EXISTS p_AdjustRoute_118: AdjustRoute. (p_AdjustRoute_118_presence & ((p_AdjustRoute_118_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_118_time)))) & ((! ((((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & (! p_Measure_507_humanInRoute)) & True)) | EXISTS p_AvoidBumping_93: AvoidBumping. (p_AvoidBumping_93_presence & ((p_AvoidBumping_93_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_93_time))))))))
DeriveFact || F312 || c230 -> (c56 | c57) || F67 L84 L239
Def || L240 || c231 <-> (t_InquireSafety_20_presence & ((t_InquireSafety_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_InquireSafety_20_time)))
DeriveFact || F313 || c231 -> (c73) || F86 L240
DeriveFact || F314 || c231 -> (c74) || F87 L240
Def || L241 || c232 <-> (t_AdjustRoute_52_presence & ((t_AdjustRoute_52_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_52_time)))
DeriveFact || F315 || c232 -> (c82) || F97 L241
DeriveFact || F316 || c232 -> (c83) || F98 L241
Def || L242 || c233 <-> (t_AdjustRoute_53_presence & ((t_AdjustRoute_53_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_53_time)))
DeriveFact || F317 || c233 -> (c91) || F108 L242
DeriveFact || F318 || c233 -> (c92) || F109 L242
Def || L243 || c234 <-> (t_AvoidBumping_40_presence & ((t_AvoidBumping_40_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_40_time)))
DeriveFact || F319 || c234 -> (c99) || F118 L243
DeriveFact || F320 || c234 -> (c100) || F119 L243
DeriveLemma || UI L3 [p_RobotMoving_0:RobotMoving<-t_RobotMoving_15]  || L244 || c1 -> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_512: Measure. (p_Measure_512_presence & ((t_RobotMoving_15_time = p_Measure_512_time) & (((! (True & p_Measure_512_bumpHuman)) | EXISTS p_InquireSafety_46: InquireSafety. (p_InquireSafety_46_presence & ((p_InquireSafety_46_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_InquireSafety_46_time)))) & ((! ((True & (! p_Measure_512_bumpHuman)) & p_Measure_512_humanTooClose)) | EXISTS p_AdjustRoute_123: AdjustRoute. (p_AdjustRoute_123_presence & ((p_AdjustRoute_123_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_123_time)))) & ((! (((True & (! p_Measure_512_bumpHuman)) & (! p_Measure_512_humanTooClose)) & p_Measure_512_humanInRoute)) | EXISTS p_AdjustRoute_122: AdjustRoute. (p_AdjustRoute_122_presence & ((p_AdjustRoute_122_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_122_time)))) & ((! ((((True & (! p_Measure_512_bumpHuman)) & (! p_Measure_512_humanTooClose)) & (! p_Measure_512_humanInRoute)) & True)) | EXISTS p_AvoidBumping_96: AvoidBumping. (p_AvoidBumping_96_presence & ((p_AvoidBumping_96_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_96_time)))))))) || L237
Def || L245 || c235 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_512: Measure. (p_Measure_512_presence & ((t_RobotMoving_15_time = p_Measure_512_time) & (((! (True & p_Measure_512_bumpHuman)) | EXISTS p_InquireSafety_46: InquireSafety. (p_InquireSafety_46_presence & ((p_InquireSafety_46_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_InquireSafety_46_time)))) & ((! ((True & (! p_Measure_512_bumpHuman)) & p_Measure_512_humanTooClose)) | EXISTS p_AdjustRoute_123: AdjustRoute. (p_AdjustRoute_123_presence & ((p_AdjustRoute_123_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_123_time)))) & ((! (((True & (! p_Measure_512_bumpHuman)) & (! p_Measure_512_humanTooClose)) & p_Measure_512_humanInRoute)) | EXISTS p_AdjustRoute_122: AdjustRoute. (p_AdjustRoute_122_presence & ((p_AdjustRoute_122_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_122_time)))) & ((! ((((True & (! p_Measure_512_bumpHuman)) & (! p_Measure_512_humanTooClose)) & (! p_Measure_512_humanInRoute)) & True)) | EXISTS p_AvoidBumping_96: AvoidBumping. (p_AvoidBumping_96_presence & ((p_AvoidBumping_96_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_96_time))))))))
DeriveFact || F321 || c1 -> c235 || L245 L244
AddFact || F322 || c236 <-> (! t_RobotMoving_15_presence) || 1235 1246
Def || L246 || c237 <-> EXISTS p_Measure_512: Measure. (p_Measure_512_presence & ((t_RobotMoving_15_time = p_Measure_512_time) & (((! (True & p_Measure_512_bumpHuman)) | EXISTS p_InquireSafety_46: InquireSafety. (p_InquireSafety_46_presence & ((p_InquireSafety_46_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_InquireSafety_46_time)))) & ((! ((True & (! p_Measure_512_bumpHuman)) & p_Measure_512_humanTooClose)) | EXISTS p_AdjustRoute_123: AdjustRoute. (p_AdjustRoute_123_presence & ((p_AdjustRoute_123_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_123_time)))) & ((! (((True & (! p_Measure_512_bumpHuman)) & (! p_Measure_512_humanTooClose)) & p_Measure_512_humanInRoute)) | EXISTS p_AdjustRoute_122: AdjustRoute. (p_AdjustRoute_122_presence & ((p_AdjustRoute_122_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_122_time)))) & ((! ((((True & (! p_Measure_512_bumpHuman)) & (! p_Measure_512_humanTooClose)) & (! p_Measure_512_humanInRoute)) & True)) | EXISTS p_AvoidBumping_96: AvoidBumping. (p_AvoidBumping_96_presence & ((p_AvoidBumping_96_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_96_time)))))))
DeriveFact || F323 || c235 -> (c236 | c237) || F322 L246 L245
DeriveLemma || EI L246  [p_Measure_512:Measure<-t_Measure_344] || L247 || c237 -> (t_Measure_344_presence & ((t_RobotMoving_15_time = t_Measure_344_time) & (((! (True & t_Measure_344_bumpHuman)) | EXISTS p_InquireSafety_47: InquireSafety. (p_InquireSafety_47_presence & ((p_InquireSafety_47_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_InquireSafety_47_time)))) & ((! ((True & (! t_Measure_344_bumpHuman)) & t_Measure_344_humanTooClose)) | EXISTS p_AdjustRoute_125: AdjustRoute. (p_AdjustRoute_125_presence & ((p_AdjustRoute_125_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_125_time)))) & ((! (((True & (! t_Measure_344_bumpHuman)) & (! t_Measure_344_humanTooClose)) & t_Measure_344_humanInRoute)) | EXISTS p_AdjustRoute_124: AdjustRoute. (p_AdjustRoute_124_presence & ((p_AdjustRoute_124_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_124_time)))) & ((! ((((True & (! t_Measure_344_bumpHuman)) & (! t_Measure_344_humanTooClose)) & (! t_Measure_344_humanInRoute)) & True)) | EXISTS p_AvoidBumping_97: AvoidBumping. (p_AvoidBumping_97_presence & ((p_AvoidBumping_97_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_97_time)))))))
Def || L248 || c238 <-> (t_Measure_344_presence & ((t_RobotMoving_15_time = t_Measure_344_time) & (((! (True & t_Measure_344_bumpHuman)) | EXISTS p_InquireSafety_47: InquireSafety. (p_InquireSafety_47_presence & ((p_InquireSafety_47_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_InquireSafety_47_time)))) & ((! ((True & (! t_Measure_344_bumpHuman)) & t_Measure_344_humanTooClose)) | EXISTS p_AdjustRoute_125: AdjustRoute. (p_AdjustRoute_125_presence & ((p_AdjustRoute_125_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_125_time)))) & ((! (((True & (! t_Measure_344_bumpHuman)) & (! t_Measure_344_humanTooClose)) & t_Measure_344_humanInRoute)) | EXISTS p_AdjustRoute_124: AdjustRoute. (p_AdjustRoute_124_presence & ((p_AdjustRoute_124_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_124_time)))) & ((! ((((True & (! t_Measure_344_bumpHuman)) & (! t_Measure_344_humanTooClose)) & (! t_Measure_344_humanInRoute)) & True)) | EXISTS p_AvoidBumping_97: AvoidBumping. (p_AvoidBumping_97_presence & ((p_AvoidBumping_97_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_97_time)))))))
DeriveFact || F324 || c237 -> c238 || L248 L247
AddFact || F325 || c239 <-> t_Measure_344_presence
Def || L249 || c240 <-> ((t_RobotMoving_15_time = t_Measure_344_time) & (((! (True & t_Measure_344_bumpHuman)) | EXISTS p_InquireSafety_47: InquireSafety. (p_InquireSafety_47_presence & ((p_InquireSafety_47_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_InquireSafety_47_time)))) & ((! ((True & (! t_Measure_344_bumpHuman)) & t_Measure_344_humanTooClose)) | EXISTS p_AdjustRoute_125: AdjustRoute. (p_AdjustRoute_125_presence & ((p_AdjustRoute_125_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_125_time)))) & ((! (((True & (! t_Measure_344_bumpHuman)) & (! t_Measure_344_humanTooClose)) & t_Measure_344_humanInRoute)) | EXISTS p_AdjustRoute_124: AdjustRoute. (p_AdjustRoute_124_presence & ((p_AdjustRoute_124_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_124_time)))) & ((! ((((True & (! t_Measure_344_bumpHuman)) & (! t_Measure_344_humanTooClose)) & (! t_Measure_344_humanInRoute)) & True)) | EXISTS p_AvoidBumping_97: AvoidBumping. (p_AvoidBumping_97_presence & ((p_AvoidBumping_97_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_97_time))))))
DeriveFact || F326 || c238 -> (c239) || F325 L248
DeriveFact || F327 || c238 -> (c240) || L249 L248
AddFact || F328 || c241 <-> (t_RobotMoving_15_time = t_Measure_344_time)
Def || L250 || c242 <-> (((! (True & t_Measure_344_bumpHuman)) | EXISTS p_InquireSafety_47: InquireSafety. (p_InquireSafety_47_presence & ((p_InquireSafety_47_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_InquireSafety_47_time)))) & ((! ((True & (! t_Measure_344_bumpHuman)) & t_Measure_344_humanTooClose)) | EXISTS p_AdjustRoute_125: AdjustRoute. (p_AdjustRoute_125_presence & ((p_AdjustRoute_125_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_125_time)))) & ((! (((True & (! t_Measure_344_bumpHuman)) & (! t_Measure_344_humanTooClose)) & t_Measure_344_humanInRoute)) | EXISTS p_AdjustRoute_124: AdjustRoute. (p_AdjustRoute_124_presence & ((p_AdjustRoute_124_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_124_time)))) & ((! ((((True & (! t_Measure_344_bumpHuman)) & (! t_Measure_344_humanTooClose)) & (! t_Measure_344_humanInRoute)) & True)) | EXISTS p_AvoidBumping_97: AvoidBumping. (p_AvoidBumping_97_presence & ((p_AvoidBumping_97_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_97_time)))))
DeriveFact || F329 || c240 -> (c241) || F328 L249
DeriveFact || F330 || c240 -> (c242) || L250 L249
Def || L251 || c243 <-> ((! (True & t_Measure_344_bumpHuman)) | EXISTS p_InquireSafety_47: InquireSafety. (p_InquireSafety_47_presence & ((p_InquireSafety_47_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_InquireSafety_47_time))))
Def || L252 || c244 <-> ((! ((True & (! t_Measure_344_bumpHuman)) & t_Measure_344_humanTooClose)) | EXISTS p_AdjustRoute_125: AdjustRoute. (p_AdjustRoute_125_presence & ((p_AdjustRoute_125_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_125_time))))
Def || L253 || c245 <-> ((! (((True & (! t_Measure_344_bumpHuman)) & (! t_Measure_344_humanTooClose)) & t_Measure_344_humanInRoute)) | EXISTS p_AdjustRoute_124: AdjustRoute. (p_AdjustRoute_124_presence & ((p_AdjustRoute_124_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_124_time))))
Def || L254 || c246 <-> ((! ((((True & (! t_Measure_344_bumpHuman)) & (! t_Measure_344_humanTooClose)) & (! t_Measure_344_humanInRoute)) & True)) | EXISTS p_AvoidBumping_97: AvoidBumping. (p_AvoidBumping_97_presence & ((p_AvoidBumping_97_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_97_time))))
DeriveFact || F331 || c242 -> (c243) || L251 L250
DeriveFact || F332 || c242 -> (c244) || L252 L250
DeriveFact || F333 || c242 -> (c245) || L253 L250
DeriveFact || F334 || c242 -> (c246) || L254 L250
Def || L255 || c247 <-> (! (True & t_Measure_344_bumpHuman))
Def || L256 || c248 <-> EXISTS p_InquireSafety_47: InquireSafety. (p_InquireSafety_47_presence & ((p_InquireSafety_47_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_InquireSafety_47_time)))
DeriveFact || F335 || c243 -> (c247 | c248) || L255 L256 L251
DeriveLemma || NNF L255 || L257 || c247 <-> ((! True) | (! t_Measure_344_bumpHuman)) 
Def || L258 || c249 <-> ((! True) | (! t_Measure_344_bumpHuman))
DeriveFact || F336 || c247 -> c249 || L258 L257
AddFact || F337 || c250 <-> (! t_Measure_344_bumpHuman) || 1363 1374
DeriveFact || F338 || c249 -> (c70 | c250) || F82 F337 L258
DeriveLemma || EI L256  [p_InquireSafety_47:InquireSafety<-t_InquireSafety_21] || L259 || c248 -> (t_InquireSafety_21_presence & ((t_InquireSafety_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_InquireSafety_21_time)))
Def || L260 || c251 <-> (t_InquireSafety_21_presence & ((t_InquireSafety_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_InquireSafety_21_time)))
DeriveFact || F339 || c248 -> c251 || L260 L259
AddFact || F340 || c252 <-> t_InquireSafety_21_presence || 1380 1393
AddFact || F341 || c253 <-> ((t_InquireSafety_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_InquireSafety_21_time))
DeriveFact || F342 || c251 -> (c252) || F340 L260
DeriveFact || F343 || c251 -> (c253) || F341 L260
Def || L261 || c254 <-> (! ((True & (! t_Measure_344_bumpHuman)) & t_Measure_344_humanTooClose))
Def || L262 || c255 <-> EXISTS p_AdjustRoute_125: AdjustRoute. (p_AdjustRoute_125_presence & ((p_AdjustRoute_125_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_125_time)))
DeriveFact || F344 || c244 -> (c254 | c255) || L261 L262 L252
DeriveLemma || NNF L261 || L263 || c254 <-> (((! True) | t_Measure_344_bumpHuman) | (! t_Measure_344_humanTooClose)) 
Def || L264 || c256 <-> (((! True) | t_Measure_344_bumpHuman) | (! t_Measure_344_humanTooClose))
DeriveFact || F345 || c254 -> c256 || L264 L263
Def || L265 || c257 <-> ((! True) | t_Measure_344_bumpHuman)
AddFact || F346 || c258 <-> (! t_Measure_344_humanTooClose) || 1319 1334
DeriveFact || F347 || c256 -> (c257 | c258) || L265 F346 L264
AddFact || F348 || c259 <-> t_Measure_344_bumpHuman || 1363 1374
DeriveFact || F349 || c257 -> (c70 | c259) || F82 F348 L265
DeriveLemma || EI L262  [p_AdjustRoute_125:AdjustRoute<-t_AdjustRoute_55] || L266 || c255 -> (t_AdjustRoute_55_presence & ((t_AdjustRoute_55_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AdjustRoute_55_time)))
Def || L267 || c260 <-> (t_AdjustRoute_55_presence & ((t_AdjustRoute_55_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AdjustRoute_55_time)))
DeriveFact || F350 || c255 -> c260 || L267 L266
AddFact || F351 || c261 <-> t_AdjustRoute_55_presence || 1340 1351
AddFact || F352 || c262 <-> ((t_AdjustRoute_55_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AdjustRoute_55_time))
DeriveFact || F353 || c260 -> (c261) || F351 L267
DeriveFact || F354 || c260 -> (c262) || F352 L267
Def || L268 || c263 <-> (! (((True & (! t_Measure_344_bumpHuman)) & (! t_Measure_344_humanTooClose)) & t_Measure_344_humanInRoute))
Def || L269 || c264 <-> EXISTS p_AdjustRoute_124: AdjustRoute. (p_AdjustRoute_124_presence & ((p_AdjustRoute_124_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_124_time)))
DeriveFact || F355 || c245 -> (c263 | c264) || L268 L269 L253
DeriveLemma || NNF L268 || L270 || c263 <-> ((((! True) | t_Measure_344_bumpHuman) | t_Measure_344_humanTooClose) | (! t_Measure_344_humanInRoute)) 
Def || L271 || c265 <-> ((((! True) | t_Measure_344_bumpHuman) | t_Measure_344_humanTooClose) | (! t_Measure_344_humanInRoute))
DeriveFact || F356 || c263 -> c265 || L271 L270
Def || L272 || c266 <-> (((! True) | t_Measure_344_bumpHuman) | t_Measure_344_humanTooClose)
AddFact || F357 || c267 <-> (! t_Measure_344_humanInRoute) || 1276 1290
DeriveFact || F358 || c265 -> (c266 | c267) || L272 F357 L271
AddFact || F359 || c268 <-> t_Measure_344_humanTooClose || 1319 1334
DeriveFact || F360 || c266 -> (c257 | c268) || L265 F359 L272
DeriveLemma || EI L269  [p_AdjustRoute_124:AdjustRoute<-t_AdjustRoute_56] || L273 || c264 -> (t_AdjustRoute_56_presence & ((t_AdjustRoute_56_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AdjustRoute_56_time)))
Def || L274 || c269 <-> (t_AdjustRoute_56_presence & ((t_AdjustRoute_56_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AdjustRoute_56_time)))
DeriveFact || F361 || c264 -> c269 || L274 L273
AddFact || F362 || c270 <-> t_AdjustRoute_56_presence || 1296 1307
AddFact || F363 || c271 <-> ((t_AdjustRoute_56_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AdjustRoute_56_time))
DeriveFact || F364 || c269 -> (c270) || F362 L274
DeriveFact || F365 || c269 -> (c271) || F363 L274
Def || L275 || c272 <-> (! ((((True & (! t_Measure_344_bumpHuman)) & (! t_Measure_344_humanTooClose)) & (! t_Measure_344_humanInRoute)) & True))
Def || L276 || c273 <-> EXISTS p_AvoidBumping_97: AvoidBumping. (p_AvoidBumping_97_presence & ((p_AvoidBumping_97_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_97_time)))
DeriveFact || F366 || c246 -> (c272 | c273) || L275 L276 L254
DeriveLemma || NNF L275 || L277 || c272 <-> (((((! True) | t_Measure_344_bumpHuman) | t_Measure_344_humanTooClose) | t_Measure_344_humanInRoute) | (! True)) 
Def || L278 || c274 <-> (((((! True) | t_Measure_344_bumpHuman) | t_Measure_344_humanTooClose) | t_Measure_344_humanInRoute) | (! True))
DeriveFact || F367 || c272 -> c274 || L278 L277
Def || L279 || c275 <-> ((((! True) | t_Measure_344_bumpHuman) | t_Measure_344_humanTooClose) | t_Measure_344_humanInRoute)
DeriveFact || F368 || c274 -> (c275 | c70) || L279 F82 L278
AddFact || F369 || c276 <-> t_Measure_344_humanInRoute || 1276 1290
DeriveFact || F370 || c275 -> (c266 | c276) || L272 F369 L279
DeriveLemma || EI L276  [p_AvoidBumping_97:AvoidBumping<-t_AvoidBumping_42] || L280 || c273 -> (t_AvoidBumping_42_presence & ((t_AvoidBumping_42_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AvoidBumping_42_time)))
Def || L281 || c277 <-> (t_AvoidBumping_42_presence & ((t_AvoidBumping_42_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AvoidBumping_42_time)))
DeriveFact || F371 || c273 -> c277 || L281 L280
AddFact || F372 || c278 <-> t_AvoidBumping_42_presence || 1252 1264
AddFact || F373 || c279 <-> ((t_AvoidBumping_42_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AvoidBumping_42_time))
DeriveFact || F374 || c277 -> (c278) || F372 L281
DeriveFact || F375 || c277 -> (c279) || F373 L281
Def || L282 || c280 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_508: Measure. (p_Measure_508_presence & ((RobotMoving_15_time = p_Measure_508_time) & ((! (p_Measure_508_humanInRange | (p_Measure_508_humanTooClose | (! p_Measure_508_routeAvailable)))) | EXISTS p_AvoidBumping_95: AvoidBumping. (p_AvoidBumping_95_presence & ((p_AvoidBumping_95_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_95_time)))))))
DeriveFact || F376 || c280 -> (c56 | c112) || F67 L132 L282
Def || L283 || c281 <-> (t_AvoidBumping_41_presence & ((t_AvoidBumping_41_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_41_time)))
DeriveFact || F377 || c281 -> (c126) || F159 L283
DeriveFact || F378 || c281 -> (c127) || F160 L283
DeriveLemma || UI L5 [p_RobotMoving_2:RobotMoving<-t_RobotMoving_15]  || L284 || c2 -> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_513: Measure. (p_Measure_513_presence & ((t_RobotMoving_15_time = p_Measure_513_time) & ((! (p_Measure_513_humanInRange | (p_Measure_513_humanTooClose | (! p_Measure_513_routeAvailable)))) | EXISTS p_AvoidBumping_98: AvoidBumping. (p_AvoidBumping_98_presence & ((p_AvoidBumping_98_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_98_time))))))) || L237
Def || L285 || c282 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_513: Measure. (p_Measure_513_presence & ((t_RobotMoving_15_time = p_Measure_513_time) & ((! (p_Measure_513_humanInRange | (p_Measure_513_humanTooClose | (! p_Measure_513_routeAvailable)))) | EXISTS p_AvoidBumping_98: AvoidBumping. (p_AvoidBumping_98_presence & ((p_AvoidBumping_98_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_98_time)))))))
DeriveFact || F379 || c2 -> c282 || L285 L284
Def || L286 || c283 <-> EXISTS p_Measure_513: Measure. (p_Measure_513_presence & ((t_RobotMoving_15_time = p_Measure_513_time) & ((! (p_Measure_513_humanInRange | (p_Measure_513_humanTooClose | (! p_Measure_513_routeAvailable)))) | EXISTS p_AvoidBumping_98: AvoidBumping. (p_AvoidBumping_98_presence & ((p_AvoidBumping_98_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_98_time))))))
DeriveFact || F380 || c282 -> (c236 | c283) || F322 L286 L285
DeriveLemma || EI L286  [p_Measure_513:Measure<-t_Measure_345] || L287 || c283 -> (t_Measure_345_presence & ((t_RobotMoving_15_time = t_Measure_345_time) & ((! (t_Measure_345_humanInRange | (t_Measure_345_humanTooClose | (! t_Measure_345_routeAvailable)))) | EXISTS p_AvoidBumping_99: AvoidBumping. (p_AvoidBumping_99_presence & ((p_AvoidBumping_99_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_99_time))))))
Def || L288 || c284 <-> (t_Measure_345_presence & ((t_RobotMoving_15_time = t_Measure_345_time) & ((! (t_Measure_345_humanInRange | (t_Measure_345_humanTooClose | (! t_Measure_345_routeAvailable)))) | EXISTS p_AvoidBumping_99: AvoidBumping. (p_AvoidBumping_99_presence & ((p_AvoidBumping_99_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_99_time))))))
DeriveFact || F381 || c283 -> c284 || L288 L287
AddFact || F382 || c285 <-> t_Measure_345_presence
Def || L289 || c286 <-> ((t_RobotMoving_15_time = t_Measure_345_time) & ((! (t_Measure_345_humanInRange | (t_Measure_345_humanTooClose | (! t_Measure_345_routeAvailable)))) | EXISTS p_AvoidBumping_99: AvoidBumping. (p_AvoidBumping_99_presence & ((p_AvoidBumping_99_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_99_time)))))
DeriveFact || F383 || c284 -> (c285) || F382 L288
DeriveFact || F384 || c284 -> (c286) || L289 L288
AddFact || F385 || c287 <-> (t_RobotMoving_15_time = t_Measure_345_time)
Def || L290 || c288 <-> ((! (t_Measure_345_humanInRange | (t_Measure_345_humanTooClose | (! t_Measure_345_routeAvailable)))) | EXISTS p_AvoidBumping_99: AvoidBumping. (p_AvoidBumping_99_presence & ((p_AvoidBumping_99_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_99_time))))
DeriveFact || F386 || c286 -> (c287) || F385 L289
DeriveFact || F387 || c286 -> (c288) || L290 L289
Def || L291 || c289 <-> (! (t_Measure_345_humanInRange | (t_Measure_345_humanTooClose | (! t_Measure_345_routeAvailable))))
Def || L292 || c290 <-> EXISTS p_AvoidBumping_99: AvoidBumping. (p_AvoidBumping_99_presence & ((p_AvoidBumping_99_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_99_time)))
DeriveFact || F388 || c288 -> (c289 | c290) || L291 L292 L290
DeriveLemma || NNF L291 || L293 || c289 <-> ((! t_Measure_345_humanInRange) & ((! t_Measure_345_humanTooClose) & t_Measure_345_routeAvailable)) 
Def || L294 || c291 <-> ((! t_Measure_345_humanInRange) & ((! t_Measure_345_humanTooClose) & t_Measure_345_routeAvailable))
DeriveFact || F389 || c289 -> c291 || L294 L293
AddFact || F390 || c292 <-> (! t_Measure_345_humanInRange) || 1469 1483
Def || L295 || c293 <-> ((! t_Measure_345_humanTooClose) & t_Measure_345_routeAvailable)
DeriveFact || F391 || c291 -> (c292) || F390 L294
DeriveFact || F392 || c291 -> (c293) || L295 L294
AddFact || F393 || c294 <-> (! t_Measure_345_humanTooClose) || 1488 1503
AddFact || F394 || c295 <-> t_Measure_345_routeAvailable || 1512 1528
DeriveFact || F395 || c293 -> (c294) || F393 L295
DeriveFact || F396 || c293 -> (c295) || F394 L295
DeriveLemma || EI L292  [p_AvoidBumping_99:AvoidBumping<-t_AvoidBumping_43] || L296 || c290 -> (t_AvoidBumping_43_presence & ((t_AvoidBumping_43_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AvoidBumping_43_time)))
Def || L297 || c296 <-> (t_AvoidBumping_43_presence & ((t_AvoidBumping_43_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AvoidBumping_43_time)))
DeriveFact || F397 || c290 -> c296 || L297 L296
AddFact || F398 || c297 <-> t_AvoidBumping_43_presence || 1537 1549
AddFact || F399 || c298 <-> ((t_AvoidBumping_43_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AvoidBumping_43_time))
DeriveFact || F400 || c296 -> (c297) || F398 L297
DeriveFact || F401 || c296 -> (c298) || F399 L297
Def || L298 || c299 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_509: Measure. (p_Measure_509_presence & ((RobotMoving_15_time = p_Measure_509_time) & EXISTS p_AccountHumanRandomness_47: AccountHumanRandomness. (p_AccountHumanRandomness_47_presence & ((p_AccountHumanRandomness_47_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AccountHumanRandomness_47_time))))))
DeriveFact || F402 || c299 -> (c56 | c136) || F67 L153 L298
Def || L299 || c300 <-> (t_AccountHumanRandomness_20_presence & ((t_AccountHumanRandomness_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AccountHumanRandomness_20_time)))
DeriveFact || F403 || c300 -> (c143) || F185 L299
DeriveFact || F404 || c300 -> (c144) || F186 L299
DeriveLemma || UI L7 [p_RobotMoving_4:RobotMoving<-t_RobotMoving_15]  || L300 || c3 -> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_514: Measure. (p_Measure_514_presence & ((t_RobotMoving_15_time = p_Measure_514_time) & EXISTS p_AccountHumanRandomness_48: AccountHumanRandomness. (p_AccountHumanRandomness_48_presence & ((p_AccountHumanRandomness_48_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AccountHumanRandomness_48_time)))))) || L237
Def || L301 || c301 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_514: Measure. (p_Measure_514_presence & ((t_RobotMoving_15_time = p_Measure_514_time) & EXISTS p_AccountHumanRandomness_48: AccountHumanRandomness. (p_AccountHumanRandomness_48_presence & ((p_AccountHumanRandomness_48_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AccountHumanRandomness_48_time))))))
DeriveFact || F405 || c3 -> c301 || L301 L300
Def || L302 || c302 <-> EXISTS p_Measure_514: Measure. (p_Measure_514_presence & ((t_RobotMoving_15_time = p_Measure_514_time) & EXISTS p_AccountHumanRandomness_48: AccountHumanRandomness. (p_AccountHumanRandomness_48_presence & ((p_AccountHumanRandomness_48_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AccountHumanRandomness_48_time)))))
DeriveFact || F406 || c301 -> (c236 | c302) || F322 L302 L301
DeriveLemma || EI L302  [p_Measure_514:Measure<-t_Measure_346] || L303 || c302 -> (t_Measure_346_presence & ((t_RobotMoving_15_time = t_Measure_346_time) & EXISTS p_AccountHumanRandomness_49: AccountHumanRandomness. (p_AccountHumanRandomness_49_presence & ((p_AccountHumanRandomness_49_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AccountHumanRandomness_49_time)))))
Def || L304 || c303 <-> (t_Measure_346_presence & ((t_RobotMoving_15_time = t_Measure_346_time) & EXISTS p_AccountHumanRandomness_49: AccountHumanRandomness. (p_AccountHumanRandomness_49_presence & ((p_AccountHumanRandomness_49_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AccountHumanRandomness_49_time)))))
DeriveFact || F407 || c302 -> c303 || L304 L303
AddFact || F408 || c304 <-> t_Measure_346_presence
Def || L305 || c305 <-> ((t_RobotMoving_15_time = t_Measure_346_time) & EXISTS p_AccountHumanRandomness_49: AccountHumanRandomness. (p_AccountHumanRandomness_49_presence & ((p_AccountHumanRandomness_49_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AccountHumanRandomness_49_time))))
DeriveFact || F409 || c303 -> (c304) || F408 L304
DeriveFact || F410 || c303 -> (c305) || L305 L304
AddFact || F411 || c306 <-> (t_RobotMoving_15_time = t_Measure_346_time)
Def || L306 || c307 <-> EXISTS p_AccountHumanRandomness_49: AccountHumanRandomness. (p_AccountHumanRandomness_49_presence & ((p_AccountHumanRandomness_49_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AccountHumanRandomness_49_time)))
DeriveFact || F412 || c305 -> (c306) || F411 L305
DeriveFact || F413 || c305 -> (c307) || L306 L305
DeriveLemma || EI L306  [p_AccountHumanRandomness_49:AccountHumanRandomness<-t_AccountHumanRandomness_21] || L307 || c307 -> (t_AccountHumanRandomness_21_presence & ((t_AccountHumanRandomness_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AccountHumanRandomness_21_time)))
Def || L308 || c308 <-> (t_AccountHumanRandomness_21_presence & ((t_AccountHumanRandomness_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AccountHumanRandomness_21_time)))
DeriveFact || F414 || c307 -> c308 || L308 L307
AddFact || F415 || c309 <-> t_AccountHumanRandomness_21_presence || 1676 1698
AddFact || F416 || c310 <-> ((t_AccountHumanRandomness_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AccountHumanRandomness_21_time))
DeriveFact || F417 || c308 -> (c309) || F415 L308
DeriveFact || F418 || c308 -> (c310) || F416 L308
Def || L309 || c311 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_510: Measure. (p_Measure_510_presence & ((RobotMoving_15_time = p_Measure_510_time) & EXISTS p_TrackHumanLocation_81: TrackHumanLocation. (p_TrackHumanLocation_81_presence & ((p_TrackHumanLocation_81_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_TrackHumanLocation_81_time))))))
DeriveFact || F419 || c311 -> (c56 | c164) || F67 L180 L309
Def || L310 || c312 <-> (t_TrackHumanLocation_20_presence & ((t_TrackHumanLocation_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_TrackHumanLocation_20_time)))
DeriveFact || F420 || c312 -> (c171) || F229 L310
DeriveFact || F421 || c312 -> (c172) || F230 L310
DeriveLemma || UI L9 [p_RobotMoving_6:RobotMoving<-t_RobotMoving_15]  || L311 || c4 -> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_515: Measure. (p_Measure_515_presence & ((t_RobotMoving_15_time = p_Measure_515_time) & EXISTS p_TrackHumanLocation_82: TrackHumanLocation. (p_TrackHumanLocation_82_presence & ((p_TrackHumanLocation_82_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_TrackHumanLocation_82_time)))))) || L237
Def || L312 || c313 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_515: Measure. (p_Measure_515_presence & ((t_RobotMoving_15_time = p_Measure_515_time) & EXISTS p_TrackHumanLocation_82: TrackHumanLocation. (p_TrackHumanLocation_82_presence & ((p_TrackHumanLocation_82_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_TrackHumanLocation_82_time))))))
DeriveFact || F422 || c4 -> c313 || L312 L311
Def || L313 || c314 <-> EXISTS p_Measure_515: Measure. (p_Measure_515_presence & ((t_RobotMoving_15_time = p_Measure_515_time) & EXISTS p_TrackHumanLocation_82: TrackHumanLocation. (p_TrackHumanLocation_82_presence & ((p_TrackHumanLocation_82_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_TrackHumanLocation_82_time)))))
DeriveFact || F423 || c313 -> (c236 | c314) || F322 L313 L312
DeriveLemma || EI L313  [p_Measure_515:Measure<-t_Measure_347] || L314 || c314 -> (t_Measure_347_presence & ((t_RobotMoving_15_time = t_Measure_347_time) & EXISTS p_TrackHumanLocation_83: TrackHumanLocation. (p_TrackHumanLocation_83_presence & ((p_TrackHumanLocation_83_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_TrackHumanLocation_83_time)))))
Def || L315 || c315 <-> (t_Measure_347_presence & ((t_RobotMoving_15_time = t_Measure_347_time) & EXISTS p_TrackHumanLocation_83: TrackHumanLocation. (p_TrackHumanLocation_83_presence & ((p_TrackHumanLocation_83_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_TrackHumanLocation_83_time)))))
DeriveFact || F424 || c314 -> c315 || L315 L314
AddFact || F425 || c316 <-> t_Measure_347_presence
Def || L316 || c317 <-> ((t_RobotMoving_15_time = t_Measure_347_time) & EXISTS p_TrackHumanLocation_83: TrackHumanLocation. (p_TrackHumanLocation_83_presence & ((p_TrackHumanLocation_83_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_TrackHumanLocation_83_time))))
DeriveFact || F426 || c315 -> (c316) || F425 L315
DeriveFact || F427 || c315 -> (c317) || L316 L315
AddFact || F428 || c318 <-> (t_RobotMoving_15_time = t_Measure_347_time)
Def || L317 || c319 <-> EXISTS p_TrackHumanLocation_83: TrackHumanLocation. (p_TrackHumanLocation_83_presence & ((p_TrackHumanLocation_83_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_TrackHumanLocation_83_time)))
DeriveFact || F429 || c317 -> (c318) || F428 L316
DeriveFact || F430 || c317 -> (c319) || L317 L316
DeriveLemma || EI L317  [p_TrackHumanLocation_83:TrackHumanLocation<-t_TrackHumanLocation_21] || L318 || c319 -> (t_TrackHumanLocation_21_presence & ((t_TrackHumanLocation_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_TrackHumanLocation_21_time)))
Def || L319 || c320 <-> (t_TrackHumanLocation_21_presence & ((t_TrackHumanLocation_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_TrackHumanLocation_21_time)))
DeriveFact || F431 || c319 -> c320 || L319 L318
AddFact || F432 || c321 <-> t_TrackHumanLocation_21_presence || 1729 1747
AddFact || F433 || c322 <-> ((t_TrackHumanLocation_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_TrackHumanLocation_21_time))
DeriveFact || F434 || c320 -> (c321) || F432 L319
DeriveFact || F435 || c320 -> (c322) || F433 L319
Def || L320 || c323 <-> ((! InformHuman_7_presence) | EXISTS p_Measure_511: Measure. (p_Measure_511_presence & ((InformHuman_7_time = p_Measure_511_time) & (((! (True & (! p_Measure_511_routeAvailable))) | EXISTS p_AskPermission_74: AskPermission. (p_AskPermission_74_presence & ((p_AskPermission_74_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AskPermission_74_time)))) & ((! ((True & p_Measure_511_routeAvailable) & p_Measure_511_humanInRoute)) | EXISTS p_AdjustRoute_121: AdjustRoute. (p_AdjustRoute_121_presence & ((p_AdjustRoute_121_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AdjustRoute_121_time)))) & ((! (((True & p_Measure_511_routeAvailable) & (! p_Measure_511_humanInRoute)) & True)) | EXISTS p_RobotMoving_418: RobotMoving. (p_RobotMoving_418_presence & ((p_RobotMoving_418_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_RobotMoving_418_time))))))))
DeriveFact || F436 || c323 -> (c196 | c197) || F270 L211 L320
Def || L321 || c324 <-> (t_AskPermission_15_presence & ((t_AskPermission_15_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_AskPermission_15_time)))
DeriveFact || F437 || c324 -> (c211) || F287 L321
DeriveFact || F438 || c324 -> (c212) || F288 L321
Def || L322 || c325 <-> (t_AdjustRoute_54_presence & ((t_AdjustRoute_54_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_AdjustRoute_54_time)))
DeriveFact || F439 || c325 -> (c220) || F298 L322
DeriveFact || F440 || c325 -> (c221) || F299 L322
Def || L323 || c326 <-> (t_RobotMoving_15_presence & ((t_RobotMoving_15_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_RobotMoving_15_time)))
DeriveFact || F441 || c326 -> (c228) || F308 L323
DeriveFact || F442 || c326 -> (c229) || F309 L323
DeriveLemma || UI L74 [p_Measure_505:Measure<-t_Measure_343]  || L324 || c47 -> ((! t_Measure_343_presence) | ((! (Measure_37_time = t_Measure_343_time)) | ((Measure_37_time = t_Measure_343_time) & (Measure_37_humanInRoute <-> t_Measure_343_humanInRoute) & (Measure_37_humanInRange <-> t_Measure_343_humanInRange) & (Measure_37_bumpHuman <-> t_Measure_343_bumpHuman) & (Measure_37_humanTooClose <-> t_Measure_343_humanTooClose) & (Measure_37_routeAvailable <-> t_Measure_343_routeAvailable) & (Measure_37_humanReEnables <-> t_Measure_343_humanReEnables) & (Measure_37_risk = t_Measure_343_risk) & (Measure_37_efficiency = t_Measure_343_efficiency) & (Measure_37_isHumanTask <-> t_Measure_343_isHumanTask) & (Measure_37_humanConsents <-> t_Measure_343_humanConsents) & (Measure_37_accident <-> t_Measure_343_accident) & (Measure_37_humansPresent <-> t_Measure_343_humansPresent) & (Measure_37_obstaclePresent <-> t_Measure_343_obstaclePresent) & (Measure_37_presence <-> t_Measure_343_presence)))) || L212
AddFact || F443 || c327 <-> ((! t_Measure_343_presence) | ((! (Measure_37_time = t_Measure_343_time)) | ((Measure_37_time = t_Measure_343_time) & (Measure_37_humanInRoute <-> t_Measure_343_humanInRoute) & (Measure_37_humanInRange <-> t_Measure_343_humanInRange) & (Measure_37_bumpHuman <-> t_Measure_343_bumpHuman) & (Measure_37_humanTooClose <-> t_Measure_343_humanTooClose) & (Measure_37_routeAvailable <-> t_Measure_343_routeAvailable) & (Measure_37_humanReEnables <-> t_Measure_343_humanReEnables) & (Measure_37_risk = t_Measure_343_risk) & (Measure_37_efficiency = t_Measure_343_efficiency) & (Measure_37_isHumanTask <-> t_Measure_343_isHumanTask) & (Measure_37_humanConsents <-> t_Measure_343_humanConsents) & (Measure_37_accident <-> t_Measure_343_accident) & (Measure_37_humansPresent <-> t_Measure_343_humansPresent) & (Measure_37_obstaclePresent <-> t_Measure_343_obstaclePresent) & (Measure_37_presence <-> t_Measure_343_presence))))
DeriveFact || F444 || c47 -> c327 || F443 L324
DeriveLemma || UI L79 [p_Measure_506:Measure<-t_Measure_343]  || L325 || c52 -> ((! t_Measure_343_presence) | ((! (Measure_38_time = t_Measure_343_time)) | ((Measure_38_time = t_Measure_343_time) & (Measure_38_humanInRoute <-> t_Measure_343_humanInRoute) & (Measure_38_humanInRange <-> t_Measure_343_humanInRange) & (Measure_38_bumpHuman <-> t_Measure_343_bumpHuman) & (Measure_38_humanTooClose <-> t_Measure_343_humanTooClose) & (Measure_38_routeAvailable <-> t_Measure_343_routeAvailable) & (Measure_38_humanReEnables <-> t_Measure_343_humanReEnables) & (Measure_38_risk = t_Measure_343_risk) & (Measure_38_efficiency = t_Measure_343_efficiency) & (Measure_38_isHumanTask <-> t_Measure_343_isHumanTask) & (Measure_38_humanConsents <-> t_Measure_343_humanConsents) & (Measure_38_accident <-> t_Measure_343_accident) & (Measure_38_humansPresent <-> t_Measure_343_humansPresent) & (Measure_38_obstaclePresent <-> t_Measure_343_obstaclePresent) & (Measure_38_presence <-> t_Measure_343_presence)))) || L212
AddFact || F445 || c328 <-> ((! t_Measure_343_presence) | ((! (Measure_38_time = t_Measure_343_time)) | ((Measure_38_time = t_Measure_343_time) & (Measure_38_humanInRoute <-> t_Measure_343_humanInRoute) & (Measure_38_humanInRange <-> t_Measure_343_humanInRange) & (Measure_38_bumpHuman <-> t_Measure_343_bumpHuman) & (Measure_38_humanTooClose <-> t_Measure_343_humanTooClose) & (Measure_38_routeAvailable <-> t_Measure_343_routeAvailable) & (Measure_38_humanReEnables <-> t_Measure_343_humanReEnables) & (Measure_38_risk = t_Measure_343_risk) & (Measure_38_efficiency = t_Measure_343_efficiency) & (Measure_38_isHumanTask <-> t_Measure_343_isHumanTask) & (Measure_38_humanConsents <-> t_Measure_343_humanConsents) & (Measure_38_accident <-> t_Measure_343_accident) & (Measure_38_humansPresent <-> t_Measure_343_humansPresent) & (Measure_38_obstaclePresent <-> t_Measure_343_obstaclePresent) & (Measure_38_presence <-> t_Measure_343_presence))))
DeriveFact || F446 || c52 -> c328 || F445 L325
DeriveLemma || UI L61 [p_Measure_0:Measure<-t_Measure_343]  || L326 || c34 -> ((! t_Measure_343_presence) | Forall p_Measure_516: Measure. ( (! p_Measure_516_presence) | ((! (t_Measure_343_time = p_Measure_516_time)) | ((t_Measure_343_time = p_Measure_516_time) & (t_Measure_343_humanInRoute <-> p_Measure_516_humanInRoute) & (t_Measure_343_humanInRange <-> p_Measure_516_humanInRange) & (t_Measure_343_bumpHuman <-> p_Measure_516_bumpHuman) & (t_Measure_343_humanTooClose <-> p_Measure_516_humanTooClose) & (t_Measure_343_routeAvailable <-> p_Measure_516_routeAvailable) & (t_Measure_343_humanReEnables <-> p_Measure_516_humanReEnables) & (t_Measure_343_risk = p_Measure_516_risk) & (t_Measure_343_efficiency = p_Measure_516_efficiency) & (t_Measure_343_isHumanTask <-> p_Measure_516_isHumanTask) & (t_Measure_343_humanConsents <-> p_Measure_516_humanConsents) & (t_Measure_343_accident <-> p_Measure_516_accident) & (t_Measure_343_humansPresent <-> p_Measure_516_humansPresent) & (t_Measure_343_obstaclePresent <-> p_Measure_516_obstaclePresent) & (t_Measure_343_presence <-> p_Measure_516_presence))))) || L212
Def || L327 || c329 <-> ((! t_Measure_343_presence) | Forall p_Measure_516: Measure. ( (! p_Measure_516_presence) | ((! (t_Measure_343_time = p_Measure_516_time)) | ((t_Measure_343_time = p_Measure_516_time) & (t_Measure_343_humanInRoute <-> p_Measure_516_humanInRoute) & (t_Measure_343_humanInRange <-> p_Measure_516_humanInRange) & (t_Measure_343_bumpHuman <-> p_Measure_516_bumpHuman) & (t_Measure_343_humanTooClose <-> p_Measure_516_humanTooClose) & (t_Measure_343_routeAvailable <-> p_Measure_516_routeAvailable) & (t_Measure_343_humanReEnables <-> p_Measure_516_humanReEnables) & (t_Measure_343_risk = p_Measure_516_risk) & (t_Measure_343_efficiency = p_Measure_516_efficiency) & (t_Measure_343_isHumanTask <-> p_Measure_516_isHumanTask) & (t_Measure_343_humanConsents <-> p_Measure_516_humanConsents) & (t_Measure_343_accident <-> p_Measure_516_accident) & (t_Measure_343_humansPresent <-> p_Measure_516_humansPresent) & (t_Measure_343_obstaclePresent <-> p_Measure_516_obstaclePresent) & (t_Measure_343_presence <-> p_Measure_516_presence)))))
DeriveFact || F447 || c34 -> c329 || L327 L326
AddFact || F448 || c330 <-> (! t_Measure_343_presence)
Def || L328 || c331 <-> Forall p_Measure_516: Measure. ( (! p_Measure_516_presence) | ((! (t_Measure_343_time = p_Measure_516_time)) | ((t_Measure_343_time = p_Measure_516_time) & (t_Measure_343_humanInRoute <-> p_Measure_516_humanInRoute) & (t_Measure_343_humanInRange <-> p_Measure_516_humanInRange) & (t_Measure_343_bumpHuman <-> p_Measure_516_bumpHuman) & (t_Measure_343_humanTooClose <-> p_Measure_516_humanTooClose) & (t_Measure_343_routeAvailable <-> p_Measure_516_routeAvailable) & (t_Measure_343_humanReEnables <-> p_Measure_516_humanReEnables) & (t_Measure_343_risk = p_Measure_516_risk) & (t_Measure_343_efficiency = p_Measure_516_efficiency) & (t_Measure_343_isHumanTask <-> p_Measure_516_isHumanTask) & (t_Measure_343_humanConsents <-> p_Measure_516_humanConsents) & (t_Measure_343_accident <-> p_Measure_516_accident) & (t_Measure_343_humansPresent <-> p_Measure_516_humansPresent) & (t_Measure_343_obstaclePresent <-> p_Measure_516_obstaclePresent) & (t_Measure_343_presence <-> p_Measure_516_presence))))
DeriveFact || F449 || c329 -> (c330 | c331) || F448 L328 L327
DeriveLemma || UI L328 [p_Measure_516:Measure<-Measure_37]  || L329 || c331 -> ((! Measure_37_presence) | ((! (t_Measure_343_time = Measure_37_time)) | ((t_Measure_343_time = Measure_37_time) & (t_Measure_343_humanInRoute <-> Measure_37_humanInRoute) & (t_Measure_343_humanInRange <-> Measure_37_humanInRange) & (t_Measure_343_bumpHuman <-> Measure_37_bumpHuman) & (t_Measure_343_humanTooClose <-> Measure_37_humanTooClose) & (t_Measure_343_routeAvailable <-> Measure_37_routeAvailable) & (t_Measure_343_humanReEnables <-> Measure_37_humanReEnables) & (t_Measure_343_risk = Measure_37_risk) & (t_Measure_343_efficiency = Measure_37_efficiency) & (t_Measure_343_isHumanTask <-> Measure_37_isHumanTask) & (t_Measure_343_humanConsents <-> Measure_37_humanConsents) & (t_Measure_343_accident <-> Measure_37_accident) & (t_Measure_343_humansPresent <-> Measure_37_humansPresent) & (t_Measure_343_obstaclePresent <-> Measure_37_obstaclePresent) & (t_Measure_343_presence <-> Measure_37_presence)))) || L59
AddFact || F450 || c332 <-> ((! Measure_37_presence) | ((! (t_Measure_343_time = Measure_37_time)) | ((t_Measure_343_time = Measure_37_time) & (t_Measure_343_humanInRoute <-> Measure_37_humanInRoute) & (t_Measure_343_humanInRange <-> Measure_37_humanInRange) & (t_Measure_343_bumpHuman <-> Measure_37_bumpHuman) & (t_Measure_343_humanTooClose <-> Measure_37_humanTooClose) & (t_Measure_343_routeAvailable <-> Measure_37_routeAvailable) & (t_Measure_343_humanReEnables <-> Measure_37_humanReEnables) & (t_Measure_343_risk = Measure_37_risk) & (t_Measure_343_efficiency = Measure_37_efficiency) & (t_Measure_343_isHumanTask <-> Measure_37_isHumanTask) & (t_Measure_343_humanConsents <-> Measure_37_humanConsents) & (t_Measure_343_accident <-> Measure_37_accident) & (t_Measure_343_humansPresent <-> Measure_37_humansPresent) & (t_Measure_343_obstaclePresent <-> Measure_37_obstaclePresent) & (t_Measure_343_presence <-> Measure_37_presence))))
DeriveFact || F451 || c331 -> c332 || F450 L329
DeriveLemma || UI L328 [p_Measure_516:Measure<-Measure_38]  || L330 || c331 -> ((! Measure_38_presence) | ((! (t_Measure_343_time = Measure_38_time)) | ((t_Measure_343_time = Measure_38_time) & (t_Measure_343_humanInRoute <-> Measure_38_humanInRoute) & (t_Measure_343_humanInRange <-> Measure_38_humanInRange) & (t_Measure_343_bumpHuman <-> Measure_38_bumpHuman) & (t_Measure_343_humanTooClose <-> Measure_38_humanTooClose) & (t_Measure_343_routeAvailable <-> Measure_38_routeAvailable) & (t_Measure_343_humanReEnables <-> Measure_38_humanReEnables) & (t_Measure_343_risk = Measure_38_risk) & (t_Measure_343_efficiency = Measure_38_efficiency) & (t_Measure_343_isHumanTask <-> Measure_38_isHumanTask) & (t_Measure_343_humanConsents <-> Measure_38_humanConsents) & (t_Measure_343_accident <-> Measure_38_accident) & (t_Measure_343_humansPresent <-> Measure_38_humansPresent) & (t_Measure_343_obstaclePresent <-> Measure_38_obstaclePresent) & (t_Measure_343_presence <-> Measure_38_presence)))) || L70
AddFact || F452 || c333 <-> ((! Measure_38_presence) | ((! (t_Measure_343_time = Measure_38_time)) | ((t_Measure_343_time = Measure_38_time) & (t_Measure_343_humanInRoute <-> Measure_38_humanInRoute) & (t_Measure_343_humanInRange <-> Measure_38_humanInRange) & (t_Measure_343_bumpHuman <-> Measure_38_bumpHuman) & (t_Measure_343_humanTooClose <-> Measure_38_humanTooClose) & (t_Measure_343_routeAvailable <-> Measure_38_routeAvailable) & (t_Measure_343_humanReEnables <-> Measure_38_humanReEnables) & (t_Measure_343_risk = Measure_38_risk) & (t_Measure_343_efficiency = Measure_38_efficiency) & (t_Measure_343_isHumanTask <-> Measure_38_isHumanTask) & (t_Measure_343_humanConsents <-> Measure_38_humanConsents) & (t_Measure_343_accident <-> Measure_38_accident) & (t_Measure_343_humansPresent <-> Measure_38_humansPresent) & (t_Measure_343_obstaclePresent <-> Measure_38_obstaclePresent) & (t_Measure_343_presence <-> Measure_38_presence))))
DeriveFact || F453 || c331 -> c333 || F452 L330
DeriveLemma || UI L328 [p_Measure_516:Measure<-t_Measure_343]  || L331 || c331 -> ((! t_Measure_343_presence) | ((! (t_Measure_343_time = t_Measure_343_time)) | True)) || L212
AddFact || F454 || c334 <-> ((! t_Measure_343_presence) | ((! (t_Measure_343_time = t_Measure_343_time)) | True))
DeriveFact || F455 || c331 -> c334 || F454 L331
Def || L332 || c335 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_507: Measure. (p_Measure_507_presence & ((RobotMoving_15_time = p_Measure_507_time) & (((! (True & p_Measure_507_bumpHuman)) | EXISTS p_InquireSafety_45: InquireSafety. (p_InquireSafety_45_presence & ((p_InquireSafety_45_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_InquireSafety_45_time)))) & ((! ((True & (! p_Measure_507_bumpHuman)) & p_Measure_507_humanTooClose)) | EXISTS p_AdjustRoute_119: AdjustRoute. (p_AdjustRoute_119_presence & ((p_AdjustRoute_119_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_119_time)))) & ((! (((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & p_Measure_507_humanInRoute)) | EXISTS p_AdjustRoute_118: AdjustRoute. (p_AdjustRoute_118_presence & ((p_AdjustRoute_118_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_118_time)))) & ((! ((((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & (! p_Measure_507_humanInRoute)) & True)) | EXISTS p_AvoidBumping_93: AvoidBumping. (p_AvoidBumping_93_presence & ((p_AvoidBumping_93_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_93_time))))))))
DeriveFact || F456 || c335 -> (c56 | c57) || F67 L84 L332
Def || L333 || c336 <-> (t_InquireSafety_20_presence & ((t_InquireSafety_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_InquireSafety_20_time)))
DeriveFact || F457 || c336 -> (c73) || F86 L333
DeriveFact || F458 || c336 -> (c74) || F87 L333
Def || L334 || c337 <-> (t_AdjustRoute_52_presence & ((t_AdjustRoute_52_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_52_time)))
DeriveFact || F459 || c337 -> (c82) || F97 L334
DeriveFact || F460 || c337 -> (c83) || F98 L334
Def || L335 || c338 <-> (t_AdjustRoute_53_presence & ((t_AdjustRoute_53_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_53_time)))
DeriveFact || F461 || c338 -> (c91) || F108 L335
DeriveFact || F462 || c338 -> (c92) || F109 L335
Def || L336 || c339 <-> (t_AvoidBumping_40_presence & ((t_AvoidBumping_40_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_40_time)))
DeriveFact || F463 || c339 -> (c99) || F118 L336
DeriveFact || F464 || c339 -> (c100) || F119 L336
Def || L337 || c340 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_512: Measure. (p_Measure_512_presence & ((t_RobotMoving_15_time = p_Measure_512_time) & (((! (True & p_Measure_512_bumpHuman)) | EXISTS p_InquireSafety_46: InquireSafety. (p_InquireSafety_46_presence & ((p_InquireSafety_46_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_InquireSafety_46_time)))) & ((! ((True & (! p_Measure_512_bumpHuman)) & p_Measure_512_humanTooClose)) | EXISTS p_AdjustRoute_123: AdjustRoute. (p_AdjustRoute_123_presence & ((p_AdjustRoute_123_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_123_time)))) & ((! (((True & (! p_Measure_512_bumpHuman)) & (! p_Measure_512_humanTooClose)) & p_Measure_512_humanInRoute)) | EXISTS p_AdjustRoute_122: AdjustRoute. (p_AdjustRoute_122_presence & ((p_AdjustRoute_122_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_122_time)))) & ((! ((((True & (! p_Measure_512_bumpHuman)) & (! p_Measure_512_humanTooClose)) & (! p_Measure_512_humanInRoute)) & True)) | EXISTS p_AvoidBumping_96: AvoidBumping. (p_AvoidBumping_96_presence & ((p_AvoidBumping_96_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_96_time))))))))
DeriveFact || F465 || c340 -> (c236 | c237) || F322 L246 L337
Def || L338 || c341 <-> (t_InquireSafety_21_presence & ((t_InquireSafety_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_InquireSafety_21_time)))
DeriveFact || F466 || c341 -> (c252) || F340 L338
DeriveFact || F467 || c341 -> (c253) || F341 L338
Def || L339 || c342 <-> (t_AdjustRoute_55_presence & ((t_AdjustRoute_55_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AdjustRoute_55_time)))
DeriveFact || F468 || c342 -> (c261) || F351 L339
DeriveFact || F469 || c342 -> (c262) || F352 L339
Def || L340 || c343 <-> (t_AdjustRoute_56_presence & ((t_AdjustRoute_56_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AdjustRoute_56_time)))
DeriveFact || F470 || c343 -> (c270) || F362 L340
DeriveFact || F471 || c343 -> (c271) || F363 L340
Def || L341 || c344 <-> (t_AvoidBumping_42_presence & ((t_AvoidBumping_42_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AvoidBumping_42_time)))
DeriveFact || F472 || c344 -> (c278) || F372 L341
DeriveFact || F473 || c344 -> (c279) || F373 L341
Def || L342 || c345 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_508: Measure. (p_Measure_508_presence & ((RobotMoving_15_time = p_Measure_508_time) & ((! (p_Measure_508_humanInRange | (p_Measure_508_humanTooClose | (! p_Measure_508_routeAvailable)))) | EXISTS p_AvoidBumping_95: AvoidBumping. (p_AvoidBumping_95_presence & ((p_AvoidBumping_95_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_95_time)))))))
DeriveFact || F474 || c345 -> (c56 | c112) || F67 L132 L342
Def || L343 || c346 <-> (t_AvoidBumping_41_presence & ((t_AvoidBumping_41_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_41_time)))
DeriveFact || F475 || c346 -> (c126) || F159 L343
DeriveFact || F476 || c346 -> (c127) || F160 L343
Def || L344 || c347 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_513: Measure. (p_Measure_513_presence & ((t_RobotMoving_15_time = p_Measure_513_time) & ((! (p_Measure_513_humanInRange | (p_Measure_513_humanTooClose | (! p_Measure_513_routeAvailable)))) | EXISTS p_AvoidBumping_98: AvoidBumping. (p_AvoidBumping_98_presence & ((p_AvoidBumping_98_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_98_time)))))))
DeriveFact || F477 || c347 -> (c236 | c283) || F322 L286 L344
Def || L345 || c348 <-> (t_AvoidBumping_43_presence & ((t_AvoidBumping_43_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AvoidBumping_43_time)))
DeriveFact || F478 || c348 -> (c297) || F398 L345
DeriveFact || F479 || c348 -> (c298) || F399 L345
Def || L346 || c349 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_509: Measure. (p_Measure_509_presence & ((RobotMoving_15_time = p_Measure_509_time) & EXISTS p_AccountHumanRandomness_47: AccountHumanRandomness. (p_AccountHumanRandomness_47_presence & ((p_AccountHumanRandomness_47_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AccountHumanRandomness_47_time))))))
DeriveFact || F480 || c349 -> (c56 | c136) || F67 L153 L346
Def || L347 || c350 <-> (t_AccountHumanRandomness_20_presence & ((t_AccountHumanRandomness_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AccountHumanRandomness_20_time)))
DeriveFact || F481 || c350 -> (c143) || F185 L347
DeriveFact || F482 || c350 -> (c144) || F186 L347
Def || L348 || c351 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_514: Measure. (p_Measure_514_presence & ((t_RobotMoving_15_time = p_Measure_514_time) & EXISTS p_AccountHumanRandomness_48: AccountHumanRandomness. (p_AccountHumanRandomness_48_presence & ((p_AccountHumanRandomness_48_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AccountHumanRandomness_48_time))))))
DeriveFact || F483 || c351 -> (c236 | c302) || F322 L302 L348
Def || L349 || c352 <-> (t_AccountHumanRandomness_21_presence & ((t_AccountHumanRandomness_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AccountHumanRandomness_21_time)))
DeriveFact || F484 || c352 -> (c309) || F415 L349
DeriveFact || F485 || c352 -> (c310) || F416 L349
Def || L350 || c353 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_510: Measure. (p_Measure_510_presence & ((RobotMoving_15_time = p_Measure_510_time) & EXISTS p_TrackHumanLocation_81: TrackHumanLocation. (p_TrackHumanLocation_81_presence & ((p_TrackHumanLocation_81_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_TrackHumanLocation_81_time))))))
DeriveFact || F486 || c353 -> (c56 | c164) || F67 L180 L350
Def || L351 || c354 <-> (t_TrackHumanLocation_20_presence & ((t_TrackHumanLocation_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_TrackHumanLocation_20_time)))
DeriveFact || F487 || c354 -> (c171) || F229 L351
DeriveFact || F488 || c354 -> (c172) || F230 L351
Def || L352 || c355 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_515: Measure. (p_Measure_515_presence & ((t_RobotMoving_15_time = p_Measure_515_time) & EXISTS p_TrackHumanLocation_82: TrackHumanLocation. (p_TrackHumanLocation_82_presence & ((p_TrackHumanLocation_82_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_TrackHumanLocation_82_time))))))
DeriveFact || F489 || c355 -> (c236 | c314) || F322 L313 L352
Def || L353 || c356 <-> (t_TrackHumanLocation_21_presence & ((t_TrackHumanLocation_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_TrackHumanLocation_21_time)))
DeriveFact || F490 || c356 -> (c321) || F432 L353
DeriveFact || F491 || c356 -> (c322) || F433 L353
Def || L354 || c357 <-> ((! InformHuman_7_presence) | EXISTS p_Measure_511: Measure. (p_Measure_511_presence & ((InformHuman_7_time = p_Measure_511_time) & (((! (True & (! p_Measure_511_routeAvailable))) | EXISTS p_AskPermission_74: AskPermission. (p_AskPermission_74_presence & ((p_AskPermission_74_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AskPermission_74_time)))) & ((! ((True & p_Measure_511_routeAvailable) & p_Measure_511_humanInRoute)) | EXISTS p_AdjustRoute_121: AdjustRoute. (p_AdjustRoute_121_presence & ((p_AdjustRoute_121_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AdjustRoute_121_time)))) & ((! (((True & p_Measure_511_routeAvailable) & (! p_Measure_511_humanInRoute)) & True)) | EXISTS p_RobotMoving_418: RobotMoving. (p_RobotMoving_418_presence & ((p_RobotMoving_418_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_RobotMoving_418_time))))))))
DeriveFact || F492 || c357 -> (c196 | c197) || F270 L211 L354
Def || L355 || c358 <-> (t_AskPermission_15_presence & ((t_AskPermission_15_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_AskPermission_15_time)))
DeriveFact || F493 || c358 -> (c211) || F287 L355
DeriveFact || F494 || c358 -> (c212) || F288 L355
Def || L356 || c359 <-> (t_AdjustRoute_54_presence & ((t_AdjustRoute_54_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_AdjustRoute_54_time)))
DeriveFact || F495 || c359 -> (c220) || F298 L356
DeriveFact || F496 || c359 -> (c221) || F299 L356
Def || L357 || c360 <-> (t_RobotMoving_15_presence & ((t_RobotMoving_15_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_RobotMoving_15_time)))
DeriveFact || F497 || c360 -> (c228) || F308 L357
DeriveFact || F498 || c360 -> (c229) || F309 L357
Def || L358 || c361 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_507: Measure. (p_Measure_507_presence & ((RobotMoving_15_time = p_Measure_507_time) & (((! (True & p_Measure_507_bumpHuman)) | EXISTS p_InquireSafety_45: InquireSafety. (p_InquireSafety_45_presence & ((p_InquireSafety_45_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_InquireSafety_45_time)))) & ((! ((True & (! p_Measure_507_bumpHuman)) & p_Measure_507_humanTooClose)) | EXISTS p_AdjustRoute_119: AdjustRoute. (p_AdjustRoute_119_presence & ((p_AdjustRoute_119_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_119_time)))) & ((! (((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & p_Measure_507_humanInRoute)) | EXISTS p_AdjustRoute_118: AdjustRoute. (p_AdjustRoute_118_presence & ((p_AdjustRoute_118_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_118_time)))) & ((! ((((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & (! p_Measure_507_humanInRoute)) & True)) | EXISTS p_AvoidBumping_93: AvoidBumping. (p_AvoidBumping_93_presence & ((p_AvoidBumping_93_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_93_time))))))))
DeriveFact || F499 || c361 -> (c56 | c57) || F67 L84 L358
Def || L359 || c362 <-> (t_InquireSafety_20_presence & ((t_InquireSafety_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_InquireSafety_20_time)))
DeriveFact || F500 || c362 -> (c73) || F86 L359
DeriveFact || F501 || c362 -> (c74) || F87 L359
Def || L360 || c363 <-> (t_AdjustRoute_52_presence & ((t_AdjustRoute_52_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_52_time)))
DeriveFact || F502 || c363 -> (c82) || F97 L360
DeriveFact || F503 || c363 -> (c83) || F98 L360
Def || L361 || c364 <-> (t_AdjustRoute_53_presence & ((t_AdjustRoute_53_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_53_time)))
DeriveFact || F504 || c364 -> (c91) || F108 L361
DeriveFact || F505 || c364 -> (c92) || F109 L361
Def || L362 || c365 <-> (t_AvoidBumping_40_presence & ((t_AvoidBumping_40_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_40_time)))
DeriveFact || F506 || c365 -> (c99) || F118 L362
DeriveFact || F507 || c365 -> (c100) || F119 L362
Def || L363 || c366 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_512: Measure. (p_Measure_512_presence & ((t_RobotMoving_15_time = p_Measure_512_time) & (((! (True & p_Measure_512_bumpHuman)) | EXISTS p_InquireSafety_46: InquireSafety. (p_InquireSafety_46_presence & ((p_InquireSafety_46_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_InquireSafety_46_time)))) & ((! ((True & (! p_Measure_512_bumpHuman)) & p_Measure_512_humanTooClose)) | EXISTS p_AdjustRoute_123: AdjustRoute. (p_AdjustRoute_123_presence & ((p_AdjustRoute_123_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_123_time)))) & ((! (((True & (! p_Measure_512_bumpHuman)) & (! p_Measure_512_humanTooClose)) & p_Measure_512_humanInRoute)) | EXISTS p_AdjustRoute_122: AdjustRoute. (p_AdjustRoute_122_presence & ((p_AdjustRoute_122_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_122_time)))) & ((! ((((True & (! p_Measure_512_bumpHuman)) & (! p_Measure_512_humanTooClose)) & (! p_Measure_512_humanInRoute)) & True)) | EXISTS p_AvoidBumping_96: AvoidBumping. (p_AvoidBumping_96_presence & ((p_AvoidBumping_96_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_96_time))))))))
DeriveFact || F508 || c366 -> (c236 | c237) || F322 L246 L363
Def || L364 || c367 <-> (t_InquireSafety_21_presence & ((t_InquireSafety_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_InquireSafety_21_time)))
DeriveFact || F509 || c367 -> (c252) || F340 L364
DeriveFact || F510 || c367 -> (c253) || F341 L364
Def || L365 || c368 <-> (t_AdjustRoute_55_presence & ((t_AdjustRoute_55_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AdjustRoute_55_time)))
DeriveFact || F511 || c368 -> (c261) || F351 L365
DeriveFact || F512 || c368 -> (c262) || F352 L365
Def || L366 || c369 <-> (t_AdjustRoute_56_presence & ((t_AdjustRoute_56_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AdjustRoute_56_time)))
DeriveFact || F513 || c369 -> (c270) || F362 L366
DeriveFact || F514 || c369 -> (c271) || F363 L366
Def || L367 || c370 <-> (t_AvoidBumping_42_presence & ((t_AvoidBumping_42_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AvoidBumping_42_time)))
DeriveFact || F515 || c370 -> (c278) || F372 L367
DeriveFact || F516 || c370 -> (c279) || F373 L367
Def || L368 || c371 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_508: Measure. (p_Measure_508_presence & ((RobotMoving_15_time = p_Measure_508_time) & ((! (p_Measure_508_humanInRange | (p_Measure_508_humanTooClose | (! p_Measure_508_routeAvailable)))) | EXISTS p_AvoidBumping_95: AvoidBumping. (p_AvoidBumping_95_presence & ((p_AvoidBumping_95_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_95_time)))))))
DeriveFact || F517 || c371 -> (c56 | c112) || F67 L132 L368
Def || L369 || c372 <-> (t_AvoidBumping_41_presence & ((t_AvoidBumping_41_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_41_time)))
DeriveFact || F518 || c372 -> (c126) || F159 L369
DeriveFact || F519 || c372 -> (c127) || F160 L369
Def || L370 || c373 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_513: Measure. (p_Measure_513_presence & ((t_RobotMoving_15_time = p_Measure_513_time) & ((! (p_Measure_513_humanInRange | (p_Measure_513_humanTooClose | (! p_Measure_513_routeAvailable)))) | EXISTS p_AvoidBumping_98: AvoidBumping. (p_AvoidBumping_98_presence & ((p_AvoidBumping_98_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_98_time)))))))
DeriveFact || F520 || c373 -> (c236 | c283) || F322 L286 L370
Def || L371 || c374 <-> (t_AvoidBumping_43_presence & ((t_AvoidBumping_43_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AvoidBumping_43_time)))
DeriveFact || F521 || c374 -> (c297) || F398 L371
DeriveFact || F522 || c374 -> (c298) || F399 L371
Def || L372 || c375 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_509: Measure. (p_Measure_509_presence & ((RobotMoving_15_time = p_Measure_509_time) & EXISTS p_AccountHumanRandomness_47: AccountHumanRandomness. (p_AccountHumanRandomness_47_presence & ((p_AccountHumanRandomness_47_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AccountHumanRandomness_47_time))))))
DeriveFact || F523 || c375 -> (c56 | c136) || F67 L153 L372
Def || L373 || c376 <-> (t_AccountHumanRandomness_20_presence & ((t_AccountHumanRandomness_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AccountHumanRandomness_20_time)))
DeriveFact || F524 || c376 -> (c143) || F185 L373
DeriveFact || F525 || c376 -> (c144) || F186 L373
Def || L374 || c377 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_514: Measure. (p_Measure_514_presence & ((t_RobotMoving_15_time = p_Measure_514_time) & EXISTS p_AccountHumanRandomness_48: AccountHumanRandomness. (p_AccountHumanRandomness_48_presence & ((p_AccountHumanRandomness_48_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AccountHumanRandomness_48_time))))))
DeriveFact || F526 || c377 -> (c236 | c302) || F322 L302 L374
Def || L375 || c378 <-> (t_AccountHumanRandomness_21_presence & ((t_AccountHumanRandomness_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AccountHumanRandomness_21_time)))
DeriveFact || F527 || c378 -> (c309) || F415 L375
DeriveFact || F528 || c378 -> (c310) || F416 L375
Def || L376 || c379 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_510: Measure. (p_Measure_510_presence & ((RobotMoving_15_time = p_Measure_510_time) & EXISTS p_TrackHumanLocation_81: TrackHumanLocation. (p_TrackHumanLocation_81_presence & ((p_TrackHumanLocation_81_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_TrackHumanLocation_81_time))))))
DeriveFact || F529 || c379 -> (c56 | c164) || F67 L180 L376
Def || L377 || c380 <-> (t_TrackHumanLocation_20_presence & ((t_TrackHumanLocation_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_TrackHumanLocation_20_time)))
DeriveFact || F530 || c380 -> (c171) || F229 L377
DeriveFact || F531 || c380 -> (c172) || F230 L377
Def || L378 || c381 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_515: Measure. (p_Measure_515_presence & ((t_RobotMoving_15_time = p_Measure_515_time) & EXISTS p_TrackHumanLocation_82: TrackHumanLocation. (p_TrackHumanLocation_82_presence & ((p_TrackHumanLocation_82_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_TrackHumanLocation_82_time))))))
DeriveFact || F532 || c381 -> (c236 | c314) || F322 L313 L378
Def || L379 || c382 <-> (t_TrackHumanLocation_21_presence & ((t_TrackHumanLocation_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_TrackHumanLocation_21_time)))
DeriveFact || F533 || c382 -> (c321) || F432 L379
DeriveFact || F534 || c382 -> (c322) || F433 L379
Def || L380 || c383 <-> ((! InformHuman_7_presence) | EXISTS p_Measure_511: Measure. (p_Measure_511_presence & ((InformHuman_7_time = p_Measure_511_time) & (((! (True & (! p_Measure_511_routeAvailable))) | EXISTS p_AskPermission_74: AskPermission. (p_AskPermission_74_presence & ((p_AskPermission_74_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AskPermission_74_time)))) & ((! ((True & p_Measure_511_routeAvailable) & p_Measure_511_humanInRoute)) | EXISTS p_AdjustRoute_121: AdjustRoute. (p_AdjustRoute_121_presence & ((p_AdjustRoute_121_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AdjustRoute_121_time)))) & ((! (((True & p_Measure_511_routeAvailable) & (! p_Measure_511_humanInRoute)) & True)) | EXISTS p_RobotMoving_418: RobotMoving. (p_RobotMoving_418_presence & ((p_RobotMoving_418_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_RobotMoving_418_time))))))))
DeriveFact || F535 || c383 -> (c196 | c197) || F270 L211 L380
Def || L381 || c384 <-> (t_AskPermission_15_presence & ((t_AskPermission_15_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_AskPermission_15_time)))
DeriveFact || F536 || c384 -> (c211) || F287 L381
DeriveFact || F537 || c384 -> (c212) || F288 L381
Def || L382 || c385 <-> (t_AdjustRoute_54_presence & ((t_AdjustRoute_54_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_AdjustRoute_54_time)))
DeriveFact || F538 || c385 -> (c220) || F298 L382
DeriveFact || F539 || c385 -> (c221) || F299 L382
Def || L383 || c386 <-> (t_RobotMoving_15_presence & ((t_RobotMoving_15_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_RobotMoving_15_time)))
DeriveFact || F540 || c386 -> (c228) || F308 L383
DeriveFact || F541 || c386 -> (c229) || F309 L383
Def || L384 || c387 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_507: Measure. (p_Measure_507_presence & ((RobotMoving_15_time = p_Measure_507_time) & (((! (True & p_Measure_507_bumpHuman)) | EXISTS p_InquireSafety_45: InquireSafety. (p_InquireSafety_45_presence & ((p_InquireSafety_45_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_InquireSafety_45_time)))) & ((! ((True & (! p_Measure_507_bumpHuman)) & p_Measure_507_humanTooClose)) | EXISTS p_AdjustRoute_119: AdjustRoute. (p_AdjustRoute_119_presence & ((p_AdjustRoute_119_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_119_time)))) & ((! (((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & p_Measure_507_humanInRoute)) | EXISTS p_AdjustRoute_118: AdjustRoute. (p_AdjustRoute_118_presence & ((p_AdjustRoute_118_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_118_time)))) & ((! ((((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & (! p_Measure_507_humanInRoute)) & True)) | EXISTS p_AvoidBumping_93: AvoidBumping. (p_AvoidBumping_93_presence & ((p_AvoidBumping_93_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_93_time))))))))
DeriveFact || F542 || c387 -> (c56 | c57) || F67 L84 L384
Def || L385 || c388 <-> (t_InquireSafety_20_presence & ((t_InquireSafety_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_InquireSafety_20_time)))
DeriveFact || F543 || c388 -> (c73) || F86 L385
DeriveFact || F544 || c388 -> (c74) || F87 L385
Def || L386 || c389 <-> (t_AdjustRoute_52_presence & ((t_AdjustRoute_52_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_52_time)))
DeriveFact || F545 || c389 -> (c82) || F97 L386
DeriveFact || F546 || c389 -> (c83) || F98 L386
Def || L387 || c390 <-> (t_AdjustRoute_53_presence & ((t_AdjustRoute_53_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_53_time)))
DeriveFact || F547 || c390 -> (c91) || F108 L387
DeriveFact || F548 || c390 -> (c92) || F109 L387
Def || L388 || c391 <-> (t_AvoidBumping_40_presence & ((t_AvoidBumping_40_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_40_time)))
DeriveFact || F549 || c391 -> (c99) || F118 L388
DeriveFact || F550 || c391 -> (c100) || F119 L388
Def || L389 || c392 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_512: Measure. (p_Measure_512_presence & ((t_RobotMoving_15_time = p_Measure_512_time) & (((! (True & p_Measure_512_bumpHuman)) | EXISTS p_InquireSafety_46: InquireSafety. (p_InquireSafety_46_presence & ((p_InquireSafety_46_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_InquireSafety_46_time)))) & ((! ((True & (! p_Measure_512_bumpHuman)) & p_Measure_512_humanTooClose)) | EXISTS p_AdjustRoute_123: AdjustRoute. (p_AdjustRoute_123_presence & ((p_AdjustRoute_123_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_123_time)))) & ((! (((True & (! p_Measure_512_bumpHuman)) & (! p_Measure_512_humanTooClose)) & p_Measure_512_humanInRoute)) | EXISTS p_AdjustRoute_122: AdjustRoute. (p_AdjustRoute_122_presence & ((p_AdjustRoute_122_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_122_time)))) & ((! ((((True & (! p_Measure_512_bumpHuman)) & (! p_Measure_512_humanTooClose)) & (! p_Measure_512_humanInRoute)) & True)) | EXISTS p_AvoidBumping_96: AvoidBumping. (p_AvoidBumping_96_presence & ((p_AvoidBumping_96_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_96_time))))))))
DeriveFact || F551 || c392 -> (c236 | c237) || F322 L246 L389
Def || L390 || c393 <-> (t_InquireSafety_21_presence & ((t_InquireSafety_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_InquireSafety_21_time)))
DeriveFact || F552 || c393 -> (c252) || F340 L390
DeriveFact || F553 || c393 -> (c253) || F341 L390
Def || L391 || c394 <-> (t_AdjustRoute_55_presence & ((t_AdjustRoute_55_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AdjustRoute_55_time)))
DeriveFact || F554 || c394 -> (c261) || F351 L391
DeriveFact || F555 || c394 -> (c262) || F352 L391
Def || L392 || c395 <-> (t_AdjustRoute_56_presence & ((t_AdjustRoute_56_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AdjustRoute_56_time)))
DeriveFact || F556 || c395 -> (c270) || F362 L392
DeriveFact || F557 || c395 -> (c271) || F363 L392
Def || L393 || c396 <-> (t_AvoidBumping_42_presence & ((t_AvoidBumping_42_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AvoidBumping_42_time)))
DeriveFact || F558 || c396 -> (c278) || F372 L393
DeriveFact || F559 || c396 -> (c279) || F373 L393
Def || L394 || c397 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_508: Measure. (p_Measure_508_presence & ((RobotMoving_15_time = p_Measure_508_time) & ((! (p_Measure_508_humanInRange | (p_Measure_508_humanTooClose | (! p_Measure_508_routeAvailable)))) | EXISTS p_AvoidBumping_95: AvoidBumping. (p_AvoidBumping_95_presence & ((p_AvoidBumping_95_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_95_time)))))))
DeriveFact || F560 || c397 -> (c56 | c112) || F67 L132 L394
Def || L395 || c398 <-> (t_AvoidBumping_41_presence & ((t_AvoidBumping_41_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_41_time)))
DeriveFact || F561 || c398 -> (c126) || F159 L395
DeriveFact || F562 || c398 -> (c127) || F160 L395
Def || L396 || c399 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_513: Measure. (p_Measure_513_presence & ((t_RobotMoving_15_time = p_Measure_513_time) & ((! (p_Measure_513_humanInRange | (p_Measure_513_humanTooClose | (! p_Measure_513_routeAvailable)))) | EXISTS p_AvoidBumping_98: AvoidBumping. (p_AvoidBumping_98_presence & ((p_AvoidBumping_98_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_98_time)))))))
DeriveFact || F563 || c399 -> (c236 | c283) || F322 L286 L396
Def || L397 || c400 <-> (t_AvoidBumping_43_presence & ((t_AvoidBumping_43_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AvoidBumping_43_time)))
DeriveFact || F564 || c400 -> (c297) || F398 L397
DeriveFact || F565 || c400 -> (c298) || F399 L397
Def || L398 || c401 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_509: Measure. (p_Measure_509_presence & ((RobotMoving_15_time = p_Measure_509_time) & EXISTS p_AccountHumanRandomness_47: AccountHumanRandomness. (p_AccountHumanRandomness_47_presence & ((p_AccountHumanRandomness_47_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AccountHumanRandomness_47_time))))))
DeriveFact || F566 || c401 -> (c56 | c136) || F67 L153 L398
Def || L399 || c402 <-> (t_AccountHumanRandomness_20_presence & ((t_AccountHumanRandomness_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AccountHumanRandomness_20_time)))
DeriveFact || F567 || c402 -> (c143) || F185 L399
DeriveFact || F568 || c402 -> (c144) || F186 L399
Def || L400 || c403 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_514: Measure. (p_Measure_514_presence & ((t_RobotMoving_15_time = p_Measure_514_time) & EXISTS p_AccountHumanRandomness_48: AccountHumanRandomness. (p_AccountHumanRandomness_48_presence & ((p_AccountHumanRandomness_48_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AccountHumanRandomness_48_time))))))
DeriveFact || F569 || c403 -> (c236 | c302) || F322 L302 L400
Def || L401 || c404 <-> (t_AccountHumanRandomness_21_presence & ((t_AccountHumanRandomness_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AccountHumanRandomness_21_time)))
DeriveFact || F570 || c404 -> (c309) || F415 L401
DeriveFact || F571 || c404 -> (c310) || F416 L401
Def || L402 || c405 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_510: Measure. (p_Measure_510_presence & ((RobotMoving_15_time = p_Measure_510_time) & EXISTS p_TrackHumanLocation_81: TrackHumanLocation. (p_TrackHumanLocation_81_presence & ((p_TrackHumanLocation_81_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_TrackHumanLocation_81_time))))))
DeriveFact || F572 || c405 -> (c56 | c164) || F67 L180 L402
Def || L403 || c406 <-> (t_TrackHumanLocation_20_presence & ((t_TrackHumanLocation_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_TrackHumanLocation_20_time)))
DeriveFact || F573 || c406 -> (c171) || F229 L403
DeriveFact || F574 || c406 -> (c172) || F230 L403
Def || L404 || c407 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_515: Measure. (p_Measure_515_presence & ((t_RobotMoving_15_time = p_Measure_515_time) & EXISTS p_TrackHumanLocation_82: TrackHumanLocation. (p_TrackHumanLocation_82_presence & ((p_TrackHumanLocation_82_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_TrackHumanLocation_82_time))))))
DeriveFact || F575 || c407 -> (c236 | c314) || F322 L313 L404
Def || L405 || c408 <-> (t_TrackHumanLocation_21_presence & ((t_TrackHumanLocation_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_TrackHumanLocation_21_time)))
DeriveFact || F576 || c408 -> (c321) || F432 L405
DeriveFact || F577 || c408 -> (c322) || F433 L405
Def || L406 || c409 <-> ((! InformHuman_7_presence) | EXISTS p_Measure_511: Measure. (p_Measure_511_presence & ((InformHuman_7_time = p_Measure_511_time) & (((! (True & (! p_Measure_511_routeAvailable))) | EXISTS p_AskPermission_74: AskPermission. (p_AskPermission_74_presence & ((p_AskPermission_74_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AskPermission_74_time)))) & ((! ((True & p_Measure_511_routeAvailable) & p_Measure_511_humanInRoute)) | EXISTS p_AdjustRoute_121: AdjustRoute. (p_AdjustRoute_121_presence & ((p_AdjustRoute_121_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AdjustRoute_121_time)))) & ((! (((True & p_Measure_511_routeAvailable) & (! p_Measure_511_humanInRoute)) & True)) | EXISTS p_RobotMoving_418: RobotMoving. (p_RobotMoving_418_presence & ((p_RobotMoving_418_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_RobotMoving_418_time))))))))
DeriveFact || F578 || c409 -> (c196 | c197) || F270 L211 L406
Def || L407 || c410 <-> (t_AskPermission_15_presence & ((t_AskPermission_15_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_AskPermission_15_time)))
DeriveFact || F579 || c410 -> (c211) || F287 L407
DeriveFact || F580 || c410 -> (c212) || F288 L407
Def || L408 || c411 <-> (t_AdjustRoute_54_presence & ((t_AdjustRoute_54_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_AdjustRoute_54_time)))
DeriveFact || F581 || c411 -> (c220) || F298 L408
DeriveFact || F582 || c411 -> (c221) || F299 L408
Def || L409 || c412 <-> (t_RobotMoving_15_presence & ((t_RobotMoving_15_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_RobotMoving_15_time)))
DeriveFact || F583 || c412 -> (c228) || F308 L409
DeriveFact || F584 || c412 -> (c229) || F309 L409
Def || L410 || c413 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_507: Measure. (p_Measure_507_presence & ((RobotMoving_15_time = p_Measure_507_time) & (((! (True & p_Measure_507_bumpHuman)) | EXISTS p_InquireSafety_45: InquireSafety. (p_InquireSafety_45_presence & ((p_InquireSafety_45_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_InquireSafety_45_time)))) & ((! ((True & (! p_Measure_507_bumpHuman)) & p_Measure_507_humanTooClose)) | EXISTS p_AdjustRoute_119: AdjustRoute. (p_AdjustRoute_119_presence & ((p_AdjustRoute_119_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_119_time)))) & ((! (((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & p_Measure_507_humanInRoute)) | EXISTS p_AdjustRoute_118: AdjustRoute. (p_AdjustRoute_118_presence & ((p_AdjustRoute_118_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_118_time)))) & ((! ((((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & (! p_Measure_507_humanInRoute)) & True)) | EXISTS p_AvoidBumping_93: AvoidBumping. (p_AvoidBumping_93_presence & ((p_AvoidBumping_93_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_93_time))))))))
DeriveFact || F585 || c413 -> (c56 | c57) || F67 L84 L410
Def || L411 || c414 <-> (t_InquireSafety_20_presence & ((t_InquireSafety_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_InquireSafety_20_time)))
DeriveFact || F586 || c414 -> (c73) || F86 L411
DeriveFact || F587 || c414 -> (c74) || F87 L411
Def || L412 || c415 <-> (t_AdjustRoute_52_presence & ((t_AdjustRoute_52_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_52_time)))
DeriveFact || F588 || c415 -> (c82) || F97 L412
DeriveFact || F589 || c415 -> (c83) || F98 L412
Def || L413 || c416 <-> (t_AdjustRoute_53_presence & ((t_AdjustRoute_53_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_53_time)))
DeriveFact || F590 || c416 -> (c91) || F108 L413
DeriveFact || F591 || c416 -> (c92) || F109 L413
Def || L414 || c417 <-> (t_AvoidBumping_40_presence & ((t_AvoidBumping_40_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_40_time)))
DeriveFact || F592 || c417 -> (c99) || F118 L414
DeriveFact || F593 || c417 -> (c100) || F119 L414
Def || L415 || c418 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_512: Measure. (p_Measure_512_presence & ((t_RobotMoving_15_time = p_Measure_512_time) & (((! (True & p_Measure_512_bumpHuman)) | EXISTS p_InquireSafety_46: InquireSafety. (p_InquireSafety_46_presence & ((p_InquireSafety_46_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_InquireSafety_46_time)))) & ((! ((True & (! p_Measure_512_bumpHuman)) & p_Measure_512_humanTooClose)) | EXISTS p_AdjustRoute_123: AdjustRoute. (p_AdjustRoute_123_presence & ((p_AdjustRoute_123_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_123_time)))) & ((! (((True & (! p_Measure_512_bumpHuman)) & (! p_Measure_512_humanTooClose)) & p_Measure_512_humanInRoute)) | EXISTS p_AdjustRoute_122: AdjustRoute. (p_AdjustRoute_122_presence & ((p_AdjustRoute_122_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_122_time)))) & ((! ((((True & (! p_Measure_512_bumpHuman)) & (! p_Measure_512_humanTooClose)) & (! p_Measure_512_humanInRoute)) & True)) | EXISTS p_AvoidBumping_96: AvoidBumping. (p_AvoidBumping_96_presence & ((p_AvoidBumping_96_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_96_time))))))))
DeriveFact || F594 || c418 -> (c236 | c237) || F322 L246 L415
Def || L416 || c419 <-> (t_InquireSafety_21_presence & ((t_InquireSafety_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_InquireSafety_21_time)))
DeriveFact || F595 || c419 -> (c252) || F340 L416
DeriveFact || F596 || c419 -> (c253) || F341 L416
Def || L417 || c420 <-> (t_AdjustRoute_55_presence & ((t_AdjustRoute_55_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AdjustRoute_55_time)))
DeriveFact || F597 || c420 -> (c261) || F351 L417
DeriveFact || F598 || c420 -> (c262) || F352 L417
Def || L418 || c421 <-> (t_AdjustRoute_56_presence & ((t_AdjustRoute_56_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AdjustRoute_56_time)))
DeriveFact || F599 || c421 -> (c270) || F362 L418
DeriveFact || F600 || c421 -> (c271) || F363 L418
Def || L419 || c422 <-> (t_AvoidBumping_42_presence & ((t_AvoidBumping_42_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AvoidBumping_42_time)))
DeriveFact || F601 || c422 -> (c278) || F372 L419
DeriveFact || F602 || c422 -> (c279) || F373 L419
Def || L420 || c423 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_508: Measure. (p_Measure_508_presence & ((RobotMoving_15_time = p_Measure_508_time) & ((! (p_Measure_508_humanInRange | (p_Measure_508_humanTooClose | (! p_Measure_508_routeAvailable)))) | EXISTS p_AvoidBumping_95: AvoidBumping. (p_AvoidBumping_95_presence & ((p_AvoidBumping_95_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_95_time)))))))
DeriveFact || F603 || c423 -> (c56 | c112) || F67 L132 L420
Def || L421 || c424 <-> (t_AvoidBumping_41_presence & ((t_AvoidBumping_41_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_41_time)))
DeriveFact || F604 || c424 -> (c126) || F159 L421
DeriveFact || F605 || c424 -> (c127) || F160 L421
Def || L422 || c425 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_513: Measure. (p_Measure_513_presence & ((t_RobotMoving_15_time = p_Measure_513_time) & ((! (p_Measure_513_humanInRange | (p_Measure_513_humanTooClose | (! p_Measure_513_routeAvailable)))) | EXISTS p_AvoidBumping_98: AvoidBumping. (p_AvoidBumping_98_presence & ((p_AvoidBumping_98_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_98_time)))))))
DeriveFact || F606 || c425 -> (c236 | c283) || F322 L286 L422
Def || L423 || c426 <-> (t_AvoidBumping_43_presence & ((t_AvoidBumping_43_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AvoidBumping_43_time)))
DeriveFact || F607 || c426 -> (c297) || F398 L423
DeriveFact || F608 || c426 -> (c298) || F399 L423
Def || L424 || c427 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_509: Measure. (p_Measure_509_presence & ((RobotMoving_15_time = p_Measure_509_time) & EXISTS p_AccountHumanRandomness_47: AccountHumanRandomness. (p_AccountHumanRandomness_47_presence & ((p_AccountHumanRandomness_47_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AccountHumanRandomness_47_time))))))
DeriveFact || F609 || c427 -> (c56 | c136) || F67 L153 L424
Def || L425 || c428 <-> (t_AccountHumanRandomness_20_presence & ((t_AccountHumanRandomness_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AccountHumanRandomness_20_time)))
DeriveFact || F610 || c428 -> (c143) || F185 L425
DeriveFact || F611 || c428 -> (c144) || F186 L425
Def || L426 || c429 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_514: Measure. (p_Measure_514_presence & ((t_RobotMoving_15_time = p_Measure_514_time) & EXISTS p_AccountHumanRandomness_48: AccountHumanRandomness. (p_AccountHumanRandomness_48_presence & ((p_AccountHumanRandomness_48_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AccountHumanRandomness_48_time))))))
DeriveFact || F612 || c429 -> (c236 | c302) || F322 L302 L426
Def || L427 || c430 <-> (t_AccountHumanRandomness_21_presence & ((t_AccountHumanRandomness_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AccountHumanRandomness_21_time)))
DeriveFact || F613 || c430 -> (c309) || F415 L427
DeriveFact || F614 || c430 -> (c310) || F416 L427
Def || L428 || c431 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_510: Measure. (p_Measure_510_presence & ((RobotMoving_15_time = p_Measure_510_time) & EXISTS p_TrackHumanLocation_81: TrackHumanLocation. (p_TrackHumanLocation_81_presence & ((p_TrackHumanLocation_81_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_TrackHumanLocation_81_time))))))
DeriveFact || F615 || c431 -> (c56 | c164) || F67 L180 L428
Def || L429 || c432 <-> (t_TrackHumanLocation_20_presence & ((t_TrackHumanLocation_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_TrackHumanLocation_20_time)))
DeriveFact || F616 || c432 -> (c171) || F229 L429
DeriveFact || F617 || c432 -> (c172) || F230 L429
Def || L430 || c433 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_515: Measure. (p_Measure_515_presence & ((t_RobotMoving_15_time = p_Measure_515_time) & EXISTS p_TrackHumanLocation_82: TrackHumanLocation. (p_TrackHumanLocation_82_presence & ((p_TrackHumanLocation_82_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_TrackHumanLocation_82_time))))))
DeriveFact || F618 || c433 -> (c236 | c314) || F322 L313 L430
Def || L431 || c434 <-> (t_TrackHumanLocation_21_presence & ((t_TrackHumanLocation_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_TrackHumanLocation_21_time)))
DeriveFact || F619 || c434 -> (c321) || F432 L431
DeriveFact || F620 || c434 -> (c322) || F433 L431
Def || L432 || c435 <-> ((! InformHuman_7_presence) | EXISTS p_Measure_511: Measure. (p_Measure_511_presence & ((InformHuman_7_time = p_Measure_511_time) & (((! (True & (! p_Measure_511_routeAvailable))) | EXISTS p_AskPermission_74: AskPermission. (p_AskPermission_74_presence & ((p_AskPermission_74_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AskPermission_74_time)))) & ((! ((True & p_Measure_511_routeAvailable) & p_Measure_511_humanInRoute)) | EXISTS p_AdjustRoute_121: AdjustRoute. (p_AdjustRoute_121_presence & ((p_AdjustRoute_121_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AdjustRoute_121_time)))) & ((! (((True & p_Measure_511_routeAvailable) & (! p_Measure_511_humanInRoute)) & True)) | EXISTS p_RobotMoving_418: RobotMoving. (p_RobotMoving_418_presence & ((p_RobotMoving_418_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_RobotMoving_418_time))))))))
DeriveFact || F621 || c435 -> (c196 | c197) || F270 L211 L432
Def || L433 || c436 <-> (t_AskPermission_15_presence & ((t_AskPermission_15_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_AskPermission_15_time)))
DeriveFact || F622 || c436 -> (c211) || F287 L433
DeriveFact || F623 || c436 -> (c212) || F288 L433
Def || L434 || c437 <-> (t_AdjustRoute_54_presence & ((t_AdjustRoute_54_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_AdjustRoute_54_time)))
DeriveFact || F624 || c437 -> (c220) || F298 L434
DeriveFact || F625 || c437 -> (c221) || F299 L434
Def || L435 || c438 <-> (t_RobotMoving_15_presence & ((t_RobotMoving_15_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_RobotMoving_15_time)))
DeriveFact || F626 || c438 -> (c228) || F308 L435
DeriveFact || F627 || c438 -> (c229) || F309 L435
Def || L436 || c439 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_507: Measure. (p_Measure_507_presence & ((RobotMoving_15_time = p_Measure_507_time) & (((! (True & p_Measure_507_bumpHuman)) | EXISTS p_InquireSafety_45: InquireSafety. (p_InquireSafety_45_presence & ((p_InquireSafety_45_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_InquireSafety_45_time)))) & ((! ((True & (! p_Measure_507_bumpHuman)) & p_Measure_507_humanTooClose)) | EXISTS p_AdjustRoute_119: AdjustRoute. (p_AdjustRoute_119_presence & ((p_AdjustRoute_119_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_119_time)))) & ((! (((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & p_Measure_507_humanInRoute)) | EXISTS p_AdjustRoute_118: AdjustRoute. (p_AdjustRoute_118_presence & ((p_AdjustRoute_118_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_118_time)))) & ((! ((((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & (! p_Measure_507_humanInRoute)) & True)) | EXISTS p_AvoidBumping_93: AvoidBumping. (p_AvoidBumping_93_presence & ((p_AvoidBumping_93_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_93_time))))))))
DeriveFact || F628 || c439 -> (c56 | c57) || F67 L84 L436
Def || L437 || c440 <-> (t_InquireSafety_20_presence & ((t_InquireSafety_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_InquireSafety_20_time)))
DeriveFact || F629 || c440 -> (c73) || F86 L437
DeriveFact || F630 || c440 -> (c74) || F87 L437
Def || L438 || c441 <-> (t_AdjustRoute_52_presence & ((t_AdjustRoute_52_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_52_time)))
DeriveFact || F631 || c441 -> (c82) || F97 L438
DeriveFact || F632 || c441 -> (c83) || F98 L438
Def || L439 || c442 <-> (t_AdjustRoute_53_presence & ((t_AdjustRoute_53_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_53_time)))
DeriveFact || F633 || c442 -> (c91) || F108 L439
DeriveFact || F634 || c442 -> (c92) || F109 L439
Def || L440 || c443 <-> (t_AvoidBumping_40_presence & ((t_AvoidBumping_40_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_40_time)))
DeriveFact || F635 || c443 -> (c99) || F118 L440
DeriveFact || F636 || c443 -> (c100) || F119 L440
Def || L441 || c444 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_512: Measure. (p_Measure_512_presence & ((t_RobotMoving_15_time = p_Measure_512_time) & (((! (True & p_Measure_512_bumpHuman)) | EXISTS p_InquireSafety_46: InquireSafety. (p_InquireSafety_46_presence & ((p_InquireSafety_46_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_InquireSafety_46_time)))) & ((! ((True & (! p_Measure_512_bumpHuman)) & p_Measure_512_humanTooClose)) | EXISTS p_AdjustRoute_123: AdjustRoute. (p_AdjustRoute_123_presence & ((p_AdjustRoute_123_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_123_time)))) & ((! (((True & (! p_Measure_512_bumpHuman)) & (! p_Measure_512_humanTooClose)) & p_Measure_512_humanInRoute)) | EXISTS p_AdjustRoute_122: AdjustRoute. (p_AdjustRoute_122_presence & ((p_AdjustRoute_122_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_122_time)))) & ((! ((((True & (! p_Measure_512_bumpHuman)) & (! p_Measure_512_humanTooClose)) & (! p_Measure_512_humanInRoute)) & True)) | EXISTS p_AvoidBumping_96: AvoidBumping. (p_AvoidBumping_96_presence & ((p_AvoidBumping_96_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_96_time))))))))
DeriveFact || F637 || c444 -> (c236 | c237) || F322 L246 L441
Def || L442 || c445 <-> (t_InquireSafety_21_presence & ((t_InquireSafety_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_InquireSafety_21_time)))
DeriveFact || F638 || c445 -> (c252) || F340 L442
DeriveFact || F639 || c445 -> (c253) || F341 L442
Def || L443 || c446 <-> (t_AdjustRoute_55_presence & ((t_AdjustRoute_55_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AdjustRoute_55_time)))
DeriveFact || F640 || c446 -> (c261) || F351 L443
DeriveFact || F641 || c446 -> (c262) || F352 L443
Def || L444 || c447 <-> (t_AdjustRoute_56_presence & ((t_AdjustRoute_56_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AdjustRoute_56_time)))
DeriveFact || F642 || c447 -> (c270) || F362 L444
DeriveFact || F643 || c447 -> (c271) || F363 L444
Def || L445 || c448 <-> (t_AvoidBumping_42_presence & ((t_AvoidBumping_42_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AvoidBumping_42_time)))
DeriveFact || F644 || c448 -> (c278) || F372 L445
DeriveFact || F645 || c448 -> (c279) || F373 L445
Def || L446 || c449 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_508: Measure. (p_Measure_508_presence & ((RobotMoving_15_time = p_Measure_508_time) & ((! (p_Measure_508_humanInRange | (p_Measure_508_humanTooClose | (! p_Measure_508_routeAvailable)))) | EXISTS p_AvoidBumping_95: AvoidBumping. (p_AvoidBumping_95_presence & ((p_AvoidBumping_95_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_95_time)))))))
DeriveFact || F646 || c449 -> (c56 | c112) || F67 L132 L446
Def || L447 || c450 <-> (t_AvoidBumping_41_presence & ((t_AvoidBumping_41_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_41_time)))
DeriveFact || F647 || c450 -> (c126) || F159 L447
DeriveFact || F648 || c450 -> (c127) || F160 L447
Def || L448 || c451 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_513: Measure. (p_Measure_513_presence & ((t_RobotMoving_15_time = p_Measure_513_time) & ((! (p_Measure_513_humanInRange | (p_Measure_513_humanTooClose | (! p_Measure_513_routeAvailable)))) | EXISTS p_AvoidBumping_98: AvoidBumping. (p_AvoidBumping_98_presence & ((p_AvoidBumping_98_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_98_time)))))))
DeriveFact || F649 || c451 -> (c236 | c283) || F322 L286 L448
Def || L449 || c452 <-> (t_AvoidBumping_43_presence & ((t_AvoidBumping_43_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AvoidBumping_43_time)))
DeriveFact || F650 || c452 -> (c297) || F398 L449
DeriveFact || F651 || c452 -> (c298) || F399 L449
Def || L450 || c453 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_509: Measure. (p_Measure_509_presence & ((RobotMoving_15_time = p_Measure_509_time) & EXISTS p_AccountHumanRandomness_47: AccountHumanRandomness. (p_AccountHumanRandomness_47_presence & ((p_AccountHumanRandomness_47_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AccountHumanRandomness_47_time))))))
DeriveFact || F652 || c453 -> (c56 | c136) || F67 L153 L450
Def || L451 || c454 <-> (t_AccountHumanRandomness_20_presence & ((t_AccountHumanRandomness_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AccountHumanRandomness_20_time)))
DeriveFact || F653 || c454 -> (c143) || F185 L451
DeriveFact || F654 || c454 -> (c144) || F186 L451
Def || L452 || c455 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_514: Measure. (p_Measure_514_presence & ((t_RobotMoving_15_time = p_Measure_514_time) & EXISTS p_AccountHumanRandomness_48: AccountHumanRandomness. (p_AccountHumanRandomness_48_presence & ((p_AccountHumanRandomness_48_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AccountHumanRandomness_48_time))))))
DeriveFact || F655 || c455 -> (c236 | c302) || F322 L302 L452
Def || L453 || c456 <-> (t_AccountHumanRandomness_21_presence & ((t_AccountHumanRandomness_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AccountHumanRandomness_21_time)))
DeriveFact || F656 || c456 -> (c309) || F415 L453
DeriveFact || F657 || c456 -> (c310) || F416 L453
Def || L454 || c457 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_510: Measure. (p_Measure_510_presence & ((RobotMoving_15_time = p_Measure_510_time) & EXISTS p_TrackHumanLocation_81: TrackHumanLocation. (p_TrackHumanLocation_81_presence & ((p_TrackHumanLocation_81_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_TrackHumanLocation_81_time))))))
DeriveFact || F658 || c457 -> (c56 | c164) || F67 L180 L454
Def || L455 || c458 <-> (t_TrackHumanLocation_20_presence & ((t_TrackHumanLocation_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_TrackHumanLocation_20_time)))
DeriveFact || F659 || c458 -> (c171) || F229 L455
DeriveFact || F660 || c458 -> (c172) || F230 L455
Def || L456 || c459 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_515: Measure. (p_Measure_515_presence & ((t_RobotMoving_15_time = p_Measure_515_time) & EXISTS p_TrackHumanLocation_82: TrackHumanLocation. (p_TrackHumanLocation_82_presence & ((p_TrackHumanLocation_82_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_TrackHumanLocation_82_time))))))
DeriveFact || F661 || c459 -> (c236 | c314) || F322 L313 L456
Def || L457 || c460 <-> (t_TrackHumanLocation_21_presence & ((t_TrackHumanLocation_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_TrackHumanLocation_21_time)))
DeriveFact || F662 || c460 -> (c321) || F432 L457
DeriveFact || F663 || c460 -> (c322) || F433 L457
Def || L458 || c461 <-> ((! InformHuman_7_presence) | EXISTS p_Measure_511: Measure. (p_Measure_511_presence & ((InformHuman_7_time = p_Measure_511_time) & (((! (True & (! p_Measure_511_routeAvailable))) | EXISTS p_AskPermission_74: AskPermission. (p_AskPermission_74_presence & ((p_AskPermission_74_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AskPermission_74_time)))) & ((! ((True & p_Measure_511_routeAvailable) & p_Measure_511_humanInRoute)) | EXISTS p_AdjustRoute_121: AdjustRoute. (p_AdjustRoute_121_presence & ((p_AdjustRoute_121_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AdjustRoute_121_time)))) & ((! (((True & p_Measure_511_routeAvailable) & (! p_Measure_511_humanInRoute)) & True)) | EXISTS p_RobotMoving_418: RobotMoving. (p_RobotMoving_418_presence & ((p_RobotMoving_418_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_RobotMoving_418_time))))))))
DeriveFact || F664 || c461 -> (c196 | c197) || F270 L211 L458
Def || L459 || c462 <-> (t_AskPermission_15_presence & ((t_AskPermission_15_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_AskPermission_15_time)))
DeriveFact || F665 || c462 -> (c211) || F287 L459
DeriveFact || F666 || c462 -> (c212) || F288 L459
Def || L460 || c463 <-> (t_AdjustRoute_54_presence & ((t_AdjustRoute_54_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_AdjustRoute_54_time)))
DeriveFact || F667 || c463 -> (c220) || F298 L460
DeriveFact || F668 || c463 -> (c221) || F299 L460
Def || L461 || c464 <-> (t_RobotMoving_15_presence & ((t_RobotMoving_15_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_RobotMoving_15_time)))
DeriveFact || F669 || c464 -> (c228) || F308 L461
DeriveFact || F670 || c464 -> (c229) || F309 L461
DeriveLemma || UI L19 [p_RobotMoving_10:RobotMoving<-RobotMoving_15]  || L462 || c9 -> ((! RobotMoving_15_presence) | EXISTS p_Measure_519: Measure. (p_Measure_519_presence & ((RobotMoving_15_time = p_Measure_519_time) & (((! (True & ((p_Measure_519_efficiency = 0) & (p_Measure_519_risk = 0)))) | EXISTS p_IncreaseSpeed_44: IncreaseSpeed. (p_IncreaseSpeed_44_presence & ((p_IncreaseSpeed_44_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_IncreaseSpeed_44_time)))) & ((! ((True & (! ((p_Measure_519_efficiency = 0) & (p_Measure_519_risk = 0)))) & True)) | EXISTS p_MoveAtSafeSpeed_46: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_46_presence & ((p_MoveAtSafeSpeed_46_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_MoveAtSafeSpeed_46_time)))))))) || L67
Def || L463 || c465 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_519: Measure. (p_Measure_519_presence & ((RobotMoving_15_time = p_Measure_519_time) & (((! (True & ((p_Measure_519_efficiency = 0) & (p_Measure_519_risk = 0)))) | EXISTS p_IncreaseSpeed_44: IncreaseSpeed. (p_IncreaseSpeed_44_presence & ((p_IncreaseSpeed_44_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_IncreaseSpeed_44_time)))) & ((! ((True & (! ((p_Measure_519_efficiency = 0) & (p_Measure_519_risk = 0)))) & True)) | EXISTS p_MoveAtSafeSpeed_46: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_46_presence & ((p_MoveAtSafeSpeed_46_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_MoveAtSafeSpeed_46_time))))))))
DeriveFact || F671 || c9 -> c465 || L463 L462
Def || L464 || c466 <-> EXISTS p_Measure_519: Measure. (p_Measure_519_presence & ((RobotMoving_15_time = p_Measure_519_time) & (((! (True & ((p_Measure_519_efficiency = 0) & (p_Measure_519_risk = 0)))) | EXISTS p_IncreaseSpeed_44: IncreaseSpeed. (p_IncreaseSpeed_44_presence & ((p_IncreaseSpeed_44_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_IncreaseSpeed_44_time)))) & ((! ((True & (! ((p_Measure_519_efficiency = 0) & (p_Measure_519_risk = 0)))) & True)) | EXISTS p_MoveAtSafeSpeed_46: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_46_presence & ((p_MoveAtSafeSpeed_46_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_MoveAtSafeSpeed_46_time)))))))
DeriveFact || F672 || c465 -> (c56 | c466) || F67 L464 L463
DeriveLemma || EI L464  [p_Measure_519:Measure<-t_Measure_350] || L465 || c466 -> (t_Measure_350_presence & ((RobotMoving_15_time = t_Measure_350_time) & (((! (True & ((t_Measure_350_efficiency = 0) & (t_Measure_350_risk = 0)))) | EXISTS p_IncreaseSpeed_42: IncreaseSpeed. (p_IncreaseSpeed_42_presence & ((p_IncreaseSpeed_42_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_IncreaseSpeed_42_time)))) & ((! ((True & (! ((t_Measure_350_efficiency = 0) & (t_Measure_350_risk = 0)))) & True)) | EXISTS p_MoveAtSafeSpeed_44: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_44_presence & ((p_MoveAtSafeSpeed_44_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_MoveAtSafeSpeed_44_time)))))))
Def || L466 || c467 <-> (t_Measure_350_presence & ((RobotMoving_15_time = t_Measure_350_time) & (((! (True & ((t_Measure_350_efficiency = 0) & (t_Measure_350_risk = 0)))) | EXISTS p_IncreaseSpeed_42: IncreaseSpeed. (p_IncreaseSpeed_42_presence & ((p_IncreaseSpeed_42_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_IncreaseSpeed_42_time)))) & ((! ((True & (! ((t_Measure_350_efficiency = 0) & (t_Measure_350_risk = 0)))) & True)) | EXISTS p_MoveAtSafeSpeed_44: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_44_presence & ((p_MoveAtSafeSpeed_44_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_MoveAtSafeSpeed_44_time)))))))
DeriveFact || F673 || c466 -> c467 || L466 L465
AddFact || F674 || c468 <-> t_Measure_350_presence
Def || L467 || c469 <-> ((RobotMoving_15_time = t_Measure_350_time) & (((! (True & ((t_Measure_350_efficiency = 0) & (t_Measure_350_risk = 0)))) | EXISTS p_IncreaseSpeed_42: IncreaseSpeed. (p_IncreaseSpeed_42_presence & ((p_IncreaseSpeed_42_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_IncreaseSpeed_42_time)))) & ((! ((True & (! ((t_Measure_350_efficiency = 0) & (t_Measure_350_risk = 0)))) & True)) | EXISTS p_MoveAtSafeSpeed_44: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_44_presence & ((p_MoveAtSafeSpeed_44_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_MoveAtSafeSpeed_44_time))))))
DeriveFact || F675 || c467 -> (c468) || F674 L466
DeriveFact || F676 || c467 -> (c469) || L467 L466
AddFact || F677 || c470 <-> (RobotMoving_15_time = t_Measure_350_time)
Def || L468 || c471 <-> (((! (True & ((t_Measure_350_efficiency = 0) & (t_Measure_350_risk = 0)))) | EXISTS p_IncreaseSpeed_42: IncreaseSpeed. (p_IncreaseSpeed_42_presence & ((p_IncreaseSpeed_42_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_IncreaseSpeed_42_time)))) & ((! ((True & (! ((t_Measure_350_efficiency = 0) & (t_Measure_350_risk = 0)))) & True)) | EXISTS p_MoveAtSafeSpeed_44: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_44_presence & ((p_MoveAtSafeSpeed_44_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_MoveAtSafeSpeed_44_time)))))
DeriveFact || F678 || c469 -> (c470) || F677 L467
DeriveFact || F679 || c469 -> (c471) || L468 L467
Def || L469 || c472 <-> ((! (True & ((t_Measure_350_efficiency = 0) & (t_Measure_350_risk = 0)))) | EXISTS p_IncreaseSpeed_42: IncreaseSpeed. (p_IncreaseSpeed_42_presence & ((p_IncreaseSpeed_42_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_IncreaseSpeed_42_time))))
Def || L470 || c473 <-> ((! ((True & (! ((t_Measure_350_efficiency = 0) & (t_Measure_350_risk = 0)))) & True)) | EXISTS p_MoveAtSafeSpeed_44: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_44_presence & ((p_MoveAtSafeSpeed_44_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_MoveAtSafeSpeed_44_time))))
DeriveFact || F680 || c471 -> (c472) || L469 L468
DeriveFact || F681 || c471 -> (c473) || L470 L468
Def || L471 || c474 <-> (! (True & ((t_Measure_350_efficiency = 0) & (t_Measure_350_risk = 0))))
Def || L472 || c475 <-> EXISTS p_IncreaseSpeed_42: IncreaseSpeed. (p_IncreaseSpeed_42_presence & ((p_IncreaseSpeed_42_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_IncreaseSpeed_42_time)))
DeriveFact || F682 || c472 -> (c474 | c475) || L471 L472 L469
DeriveLemma || NNF L471 || L473 || c474 <-> ((! True) | ((! (t_Measure_350_efficiency = 0)) | (! (t_Measure_350_risk = 0)))) 
Def || L474 || c476 <-> ((! True) | ((! (t_Measure_350_efficiency = 0)) | (! (t_Measure_350_risk = 0))))
DeriveFact || F683 || c474 -> c476 || L474 L473
Def || L475 || c477 <-> ((! (t_Measure_350_efficiency = 0)) | (! (t_Measure_350_risk = 0)))
DeriveFact || F684 || c476 -> (c70 | c477) || F82 L475 L474
AddFact || F685 || c478 <-> (! (t_Measure_350_efficiency = 0)) || 2253 2274
AddFact || F686 || c479 <-> (! (t_Measure_350_risk = 0)) || 2279 2293
DeriveFact || F687 || c477 -> (c478 | c479) || F685 F686 L475
DeriveLemma || EI L472  [p_IncreaseSpeed_42:IncreaseSpeed<-t_IncreaseSpeed_20] || L476 || c475 -> (t_IncreaseSpeed_20_presence & ((t_IncreaseSpeed_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_IncreaseSpeed_20_time)))
Def || L477 || c480 <-> (t_IncreaseSpeed_20_presence & ((t_IncreaseSpeed_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_IncreaseSpeed_20_time)))
DeriveFact || F688 || c475 -> c480 || L477 L476
AddFact || F689 || c481 <-> t_IncreaseSpeed_20_presence || 2300 2313
AddFact || F690 || c482 <-> ((t_IncreaseSpeed_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_IncreaseSpeed_20_time))
DeriveFact || F691 || c480 -> (c481) || F689 L477
DeriveFact || F692 || c480 -> (c482) || F690 L477
Def || L478 || c483 <-> (! ((True & (! ((t_Measure_350_efficiency = 0) & (t_Measure_350_risk = 0)))) & True))
Def || L479 || c484 <-> EXISTS p_MoveAtSafeSpeed_44: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_44_presence & ((p_MoveAtSafeSpeed_44_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_MoveAtSafeSpeed_44_time)))
DeriveFact || F693 || c473 -> (c483 | c484) || L478 L479 L470
DeriveLemma || NNF L478 || L480 || c483 <-> (((! True) | ((t_Measure_350_efficiency = 0) & (t_Measure_350_risk = 0))) | (! True)) 
Def || L481 || c485 <-> (((! True) | ((t_Measure_350_efficiency = 0) & (t_Measure_350_risk = 0))) | (! True))
DeriveFact || F694 || c483 -> c485 || L481 L480
Def || L482 || c486 <-> ((! True) | ((t_Measure_350_efficiency = 0) & (t_Measure_350_risk = 0)))
DeriveFact || F695 || c485 -> (c486 | c70) || L482 F82 L481
Def || L483 || c487 <-> ((t_Measure_350_efficiency = 0) & (t_Measure_350_risk = 0))
DeriveFact || F696 || c486 -> (c70 | c487) || F82 L483 L482
AddFact || F697 || c488 <-> (t_Measure_350_efficiency = 0) || 2253 2274
AddFact || F698 || c489 <-> (t_Measure_350_risk = 0) || 2279 2293
DeriveFact || F699 || c487 -> (c488) || F697 L483
DeriveFact || F700 || c487 -> (c489) || F698 L483
DeriveLemma || EI L479  [p_MoveAtSafeSpeed_44:MoveAtSafeSpeed<-t_MoveAtSafeSpeed_20] || L484 || c484 -> (t_MoveAtSafeSpeed_20_presence & ((t_MoveAtSafeSpeed_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_MoveAtSafeSpeed_20_time)))
Def || L485 || c490 <-> (t_MoveAtSafeSpeed_20_presence & ((t_MoveAtSafeSpeed_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_MoveAtSafeSpeed_20_time)))
DeriveFact || F701 || c484 -> c490 || L485 L484
AddFact || F702 || c491 <-> t_MoveAtSafeSpeed_20_presence || 2222 2237
AddFact || F703 || c492 <-> ((t_MoveAtSafeSpeed_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_MoveAtSafeSpeed_20_time))
DeriveFact || F704 || c490 -> (c491) || F702 L485
DeriveFact || F705 || c490 -> (c492) || F703 L485
DeriveLemma || UI L19 [p_RobotMoving_10:RobotMoving<-t_RobotMoving_15]  || L486 || c9 -> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_520: Measure. (p_Measure_520_presence & ((t_RobotMoving_15_time = p_Measure_520_time) & (((! (True & ((p_Measure_520_efficiency = 0) & (p_Measure_520_risk = 0)))) | EXISTS p_IncreaseSpeed_45: IncreaseSpeed. (p_IncreaseSpeed_45_presence & ((p_IncreaseSpeed_45_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_IncreaseSpeed_45_time)))) & ((! ((True & (! ((p_Measure_520_efficiency = 0) & (p_Measure_520_risk = 0)))) & True)) | EXISTS p_MoveAtSafeSpeed_47: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_47_presence & ((p_MoveAtSafeSpeed_47_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_MoveAtSafeSpeed_47_time)))))))) || L237
Def || L487 || c493 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_520: Measure. (p_Measure_520_presence & ((t_RobotMoving_15_time = p_Measure_520_time) & (((! (True & ((p_Measure_520_efficiency = 0) & (p_Measure_520_risk = 0)))) | EXISTS p_IncreaseSpeed_45: IncreaseSpeed. (p_IncreaseSpeed_45_presence & ((p_IncreaseSpeed_45_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_IncreaseSpeed_45_time)))) & ((! ((True & (! ((p_Measure_520_efficiency = 0) & (p_Measure_520_risk = 0)))) & True)) | EXISTS p_MoveAtSafeSpeed_47: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_47_presence & ((p_MoveAtSafeSpeed_47_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_MoveAtSafeSpeed_47_time))))))))
DeriveFact || F706 || c9 -> c493 || L487 L486
Def || L488 || c494 <-> EXISTS p_Measure_520: Measure. (p_Measure_520_presence & ((t_RobotMoving_15_time = p_Measure_520_time) & (((! (True & ((p_Measure_520_efficiency = 0) & (p_Measure_520_risk = 0)))) | EXISTS p_IncreaseSpeed_45: IncreaseSpeed. (p_IncreaseSpeed_45_presence & ((p_IncreaseSpeed_45_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_IncreaseSpeed_45_time)))) & ((! ((True & (! ((p_Measure_520_efficiency = 0) & (p_Measure_520_risk = 0)))) & True)) | EXISTS p_MoveAtSafeSpeed_47: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_47_presence & ((p_MoveAtSafeSpeed_47_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_MoveAtSafeSpeed_47_time)))))))
DeriveFact || F707 || c493 -> (c236 | c494) || F322 L488 L487
DeriveLemma || EI L488  [p_Measure_520:Measure<-t_Measure_351] || L489 || c494 -> (t_Measure_351_presence & ((t_RobotMoving_15_time = t_Measure_351_time) & (((! (True & ((t_Measure_351_efficiency = 0) & (t_Measure_351_risk = 0)))) | EXISTS p_IncreaseSpeed_43: IncreaseSpeed. (p_IncreaseSpeed_43_presence & ((p_IncreaseSpeed_43_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_IncreaseSpeed_43_time)))) & ((! ((True & (! ((t_Measure_351_efficiency = 0) & (t_Measure_351_risk = 0)))) & True)) | EXISTS p_MoveAtSafeSpeed_45: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_45_presence & ((p_MoveAtSafeSpeed_45_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_MoveAtSafeSpeed_45_time)))))))
Def || L490 || c495 <-> (t_Measure_351_presence & ((t_RobotMoving_15_time = t_Measure_351_time) & (((! (True & ((t_Measure_351_efficiency = 0) & (t_Measure_351_risk = 0)))) | EXISTS p_IncreaseSpeed_43: IncreaseSpeed. (p_IncreaseSpeed_43_presence & ((p_IncreaseSpeed_43_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_IncreaseSpeed_43_time)))) & ((! ((True & (! ((t_Measure_351_efficiency = 0) & (t_Measure_351_risk = 0)))) & True)) | EXISTS p_MoveAtSafeSpeed_45: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_45_presence & ((p_MoveAtSafeSpeed_45_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_MoveAtSafeSpeed_45_time)))))))
DeriveFact || F708 || c494 -> c495 || L490 L489
AddFact || F709 || c496 <-> t_Measure_351_presence
Def || L491 || c497 <-> ((t_RobotMoving_15_time = t_Measure_351_time) & (((! (True & ((t_Measure_351_efficiency = 0) & (t_Measure_351_risk = 0)))) | EXISTS p_IncreaseSpeed_43: IncreaseSpeed. (p_IncreaseSpeed_43_presence & ((p_IncreaseSpeed_43_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_IncreaseSpeed_43_time)))) & ((! ((True & (! ((t_Measure_351_efficiency = 0) & (t_Measure_351_risk = 0)))) & True)) | EXISTS p_MoveAtSafeSpeed_45: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_45_presence & ((p_MoveAtSafeSpeed_45_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_MoveAtSafeSpeed_45_time))))))
DeriveFact || F710 || c495 -> (c496) || F709 L490
DeriveFact || F711 || c495 -> (c497) || L491 L490
AddFact || F712 || c498 <-> (t_RobotMoving_15_time = t_Measure_351_time)
Def || L492 || c499 <-> (((! (True & ((t_Measure_351_efficiency = 0) & (t_Measure_351_risk = 0)))) | EXISTS p_IncreaseSpeed_43: IncreaseSpeed. (p_IncreaseSpeed_43_presence & ((p_IncreaseSpeed_43_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_IncreaseSpeed_43_time)))) & ((! ((True & (! ((t_Measure_351_efficiency = 0) & (t_Measure_351_risk = 0)))) & True)) | EXISTS p_MoveAtSafeSpeed_45: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_45_presence & ((p_MoveAtSafeSpeed_45_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_MoveAtSafeSpeed_45_time)))))
DeriveFact || F713 || c497 -> (c498) || F712 L491
DeriveFact || F714 || c497 -> (c499) || L492 L491
Def || L493 || c500 <-> ((! (True & ((t_Measure_351_efficiency = 0) & (t_Measure_351_risk = 0)))) | EXISTS p_IncreaseSpeed_43: IncreaseSpeed. (p_IncreaseSpeed_43_presence & ((p_IncreaseSpeed_43_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_IncreaseSpeed_43_time))))
Def || L494 || c501 <-> ((! ((True & (! ((t_Measure_351_efficiency = 0) & (t_Measure_351_risk = 0)))) & True)) | EXISTS p_MoveAtSafeSpeed_45: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_45_presence & ((p_MoveAtSafeSpeed_45_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_MoveAtSafeSpeed_45_time))))
DeriveFact || F715 || c499 -> (c500) || L493 L492
DeriveFact || F716 || c499 -> (c501) || L494 L492
Def || L495 || c502 <-> (! (True & ((t_Measure_351_efficiency = 0) & (t_Measure_351_risk = 0))))
Def || L496 || c503 <-> EXISTS p_IncreaseSpeed_43: IncreaseSpeed. (p_IncreaseSpeed_43_presence & ((p_IncreaseSpeed_43_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_IncreaseSpeed_43_time)))
DeriveFact || F717 || c500 -> (c502 | c503) || L495 L496 L493
DeriveLemma || NNF L495 || L497 || c502 <-> ((! True) | ((! (t_Measure_351_efficiency = 0)) | (! (t_Measure_351_risk = 0)))) 
Def || L498 || c504 <-> ((! True) | ((! (t_Measure_351_efficiency = 0)) | (! (t_Measure_351_risk = 0))))
DeriveFact || F718 || c502 -> c504 || L498 L497
Def || L499 || c505 <-> ((! (t_Measure_351_efficiency = 0)) | (! (t_Measure_351_risk = 0)))
DeriveFact || F719 || c504 -> (c70 | c505) || F82 L499 L498
AddFact || F720 || c506 <-> (! (t_Measure_351_efficiency = 0)) || 2253 2274
AddFact || F721 || c507 <-> (! (t_Measure_351_risk = 0)) || 2279 2293
DeriveFact || F722 || c505 -> (c506 | c507) || F720 F721 L499
DeriveLemma || EI L496  [p_IncreaseSpeed_43:IncreaseSpeed<-t_IncreaseSpeed_21] || L500 || c503 -> (t_IncreaseSpeed_21_presence & ((t_IncreaseSpeed_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_IncreaseSpeed_21_time)))
Def || L501 || c508 <-> (t_IncreaseSpeed_21_presence & ((t_IncreaseSpeed_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_IncreaseSpeed_21_time)))
DeriveFact || F723 || c503 -> c508 || L501 L500
AddFact || F724 || c509 <-> t_IncreaseSpeed_21_presence || 2300 2313
AddFact || F725 || c510 <-> ((t_IncreaseSpeed_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_IncreaseSpeed_21_time))
DeriveFact || F726 || c508 -> (c509) || F724 L501
DeriveFact || F727 || c508 -> (c510) || F725 L501
Def || L502 || c511 <-> (! ((True & (! ((t_Measure_351_efficiency = 0) & (t_Measure_351_risk = 0)))) & True))
Def || L503 || c512 <-> EXISTS p_MoveAtSafeSpeed_45: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_45_presence & ((p_MoveAtSafeSpeed_45_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_MoveAtSafeSpeed_45_time)))
DeriveFact || F728 || c501 -> (c511 | c512) || L502 L503 L494
DeriveLemma || NNF L502 || L504 || c511 <-> (((! True) | ((t_Measure_351_efficiency = 0) & (t_Measure_351_risk = 0))) | (! True)) 
Def || L505 || c513 <-> (((! True) | ((t_Measure_351_efficiency = 0) & (t_Measure_351_risk = 0))) | (! True))
DeriveFact || F729 || c511 -> c513 || L505 L504
Def || L506 || c514 <-> ((! True) | ((t_Measure_351_efficiency = 0) & (t_Measure_351_risk = 0)))
DeriveFact || F730 || c513 -> (c514 | c70) || L506 F82 L505
Def || L507 || c515 <-> ((t_Measure_351_efficiency = 0) & (t_Measure_351_risk = 0))
DeriveFact || F731 || c514 -> (c70 | c515) || F82 L507 L506
AddFact || F732 || c516 <-> (t_Measure_351_efficiency = 0) || 2253 2274
AddFact || F733 || c517 <-> (t_Measure_351_risk = 0) || 2279 2293
DeriveFact || F734 || c515 -> (c516) || F732 L507
DeriveFact || F735 || c515 -> (c517) || F733 L507
DeriveLemma || EI L503  [p_MoveAtSafeSpeed_45:MoveAtSafeSpeed<-t_MoveAtSafeSpeed_21] || L508 || c512 -> (t_MoveAtSafeSpeed_21_presence & ((t_MoveAtSafeSpeed_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_MoveAtSafeSpeed_21_time)))
Def || L509 || c518 <-> (t_MoveAtSafeSpeed_21_presence & ((t_MoveAtSafeSpeed_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_MoveAtSafeSpeed_21_time)))
DeriveFact || F736 || c512 -> c518 || L509 L508
AddFact || F737 || c519 <-> t_MoveAtSafeSpeed_21_presence || 2222 2237
AddFact || F738 || c520 <-> ((t_MoveAtSafeSpeed_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_MoveAtSafeSpeed_21_time))
DeriveFact || F739 || c518 -> (c519) || F737 L509
DeriveFact || F740 || c518 -> (c520) || F738 L509
Def || L510 || c521 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_507: Measure. (p_Measure_507_presence & ((RobotMoving_15_time = p_Measure_507_time) & (((! (True & p_Measure_507_bumpHuman)) | EXISTS p_InquireSafety_45: InquireSafety. (p_InquireSafety_45_presence & ((p_InquireSafety_45_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_InquireSafety_45_time)))) & ((! ((True & (! p_Measure_507_bumpHuman)) & p_Measure_507_humanTooClose)) | EXISTS p_AdjustRoute_119: AdjustRoute. (p_AdjustRoute_119_presence & ((p_AdjustRoute_119_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_119_time)))) & ((! (((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & p_Measure_507_humanInRoute)) | EXISTS p_AdjustRoute_118: AdjustRoute. (p_AdjustRoute_118_presence & ((p_AdjustRoute_118_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_118_time)))) & ((! ((((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & (! p_Measure_507_humanInRoute)) & True)) | EXISTS p_AvoidBumping_93: AvoidBumping. (p_AvoidBumping_93_presence & ((p_AvoidBumping_93_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_93_time))))))))
DeriveFact || F741 || c521 -> (c56 | c57) || F67 L84 L510
Def || L511 || c522 <-> (t_InquireSafety_20_presence & ((t_InquireSafety_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_InquireSafety_20_time)))
DeriveFact || F742 || c522 -> (c73) || F86 L511
DeriveFact || F743 || c522 -> (c74) || F87 L511
Def || L512 || c523 <-> (t_AdjustRoute_52_presence & ((t_AdjustRoute_52_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_52_time)))
DeriveFact || F744 || c523 -> (c82) || F97 L512
DeriveFact || F745 || c523 -> (c83) || F98 L512
Def || L513 || c524 <-> (t_AdjustRoute_53_presence & ((t_AdjustRoute_53_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_53_time)))
DeriveFact || F746 || c524 -> (c91) || F108 L513
DeriveFact || F747 || c524 -> (c92) || F109 L513
Def || L514 || c525 <-> (t_AvoidBumping_40_presence & ((t_AvoidBumping_40_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_40_time)))
DeriveFact || F748 || c525 -> (c99) || F118 L514
DeriveFact || F749 || c525 -> (c100) || F119 L514
Def || L515 || c526 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_512: Measure. (p_Measure_512_presence & ((t_RobotMoving_15_time = p_Measure_512_time) & (((! (True & p_Measure_512_bumpHuman)) | EXISTS p_InquireSafety_46: InquireSafety. (p_InquireSafety_46_presence & ((p_InquireSafety_46_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_InquireSafety_46_time)))) & ((! ((True & (! p_Measure_512_bumpHuman)) & p_Measure_512_humanTooClose)) | EXISTS p_AdjustRoute_123: AdjustRoute. (p_AdjustRoute_123_presence & ((p_AdjustRoute_123_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_123_time)))) & ((! (((True & (! p_Measure_512_bumpHuman)) & (! p_Measure_512_humanTooClose)) & p_Measure_512_humanInRoute)) | EXISTS p_AdjustRoute_122: AdjustRoute. (p_AdjustRoute_122_presence & ((p_AdjustRoute_122_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_122_time)))) & ((! ((((True & (! p_Measure_512_bumpHuman)) & (! p_Measure_512_humanTooClose)) & (! p_Measure_512_humanInRoute)) & True)) | EXISTS p_AvoidBumping_96: AvoidBumping. (p_AvoidBumping_96_presence & ((p_AvoidBumping_96_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_96_time))))))))
DeriveFact || F750 || c526 -> (c236 | c237) || F322 L246 L515
Def || L516 || c527 <-> (t_InquireSafety_21_presence & ((t_InquireSafety_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_InquireSafety_21_time)))
DeriveFact || F751 || c527 -> (c252) || F340 L516
DeriveFact || F752 || c527 -> (c253) || F341 L516
Def || L517 || c528 <-> (t_AdjustRoute_55_presence & ((t_AdjustRoute_55_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AdjustRoute_55_time)))
DeriveFact || F753 || c528 -> (c261) || F351 L517
DeriveFact || F754 || c528 -> (c262) || F352 L517
Def || L518 || c529 <-> (t_AdjustRoute_56_presence & ((t_AdjustRoute_56_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AdjustRoute_56_time)))
DeriveFact || F755 || c529 -> (c270) || F362 L518
DeriveFact || F756 || c529 -> (c271) || F363 L518
Def || L519 || c530 <-> (t_AvoidBumping_42_presence & ((t_AvoidBumping_42_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AvoidBumping_42_time)))
DeriveFact || F757 || c530 -> (c278) || F372 L519
DeriveFact || F758 || c530 -> (c279) || F373 L519
Def || L520 || c531 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_508: Measure. (p_Measure_508_presence & ((RobotMoving_15_time = p_Measure_508_time) & ((! (p_Measure_508_humanInRange | (p_Measure_508_humanTooClose | (! p_Measure_508_routeAvailable)))) | EXISTS p_AvoidBumping_95: AvoidBumping. (p_AvoidBumping_95_presence & ((p_AvoidBumping_95_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_95_time)))))))
DeriveFact || F759 || c531 -> (c56 | c112) || F67 L132 L520
Def || L521 || c532 <-> (t_AvoidBumping_41_presence & ((t_AvoidBumping_41_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_41_time)))
DeriveFact || F760 || c532 -> (c126) || F159 L521
DeriveFact || F761 || c532 -> (c127) || F160 L521
Def || L522 || c533 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_513: Measure. (p_Measure_513_presence & ((t_RobotMoving_15_time = p_Measure_513_time) & ((! (p_Measure_513_humanInRange | (p_Measure_513_humanTooClose | (! p_Measure_513_routeAvailable)))) | EXISTS p_AvoidBumping_98: AvoidBumping. (p_AvoidBumping_98_presence & ((p_AvoidBumping_98_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_98_time)))))))
DeriveFact || F762 || c533 -> (c236 | c283) || F322 L286 L522
Def || L523 || c534 <-> (t_AvoidBumping_43_presence & ((t_AvoidBumping_43_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AvoidBumping_43_time)))
DeriveFact || F763 || c534 -> (c297) || F398 L523
DeriveFact || F764 || c534 -> (c298) || F399 L523
Def || L524 || c535 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_509: Measure. (p_Measure_509_presence & ((RobotMoving_15_time = p_Measure_509_time) & EXISTS p_AccountHumanRandomness_47: AccountHumanRandomness. (p_AccountHumanRandomness_47_presence & ((p_AccountHumanRandomness_47_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AccountHumanRandomness_47_time))))))
DeriveFact || F765 || c535 -> (c56 | c136) || F67 L153 L524
Def || L525 || c536 <-> (t_AccountHumanRandomness_20_presence & ((t_AccountHumanRandomness_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AccountHumanRandomness_20_time)))
DeriveFact || F766 || c536 -> (c143) || F185 L525
DeriveFact || F767 || c536 -> (c144) || F186 L525
Def || L526 || c537 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_514: Measure. (p_Measure_514_presence & ((t_RobotMoving_15_time = p_Measure_514_time) & EXISTS p_AccountHumanRandomness_48: AccountHumanRandomness. (p_AccountHumanRandomness_48_presence & ((p_AccountHumanRandomness_48_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AccountHumanRandomness_48_time))))))
DeriveFact || F768 || c537 -> (c236 | c302) || F322 L302 L526
Def || L527 || c538 <-> (t_AccountHumanRandomness_21_presence & ((t_AccountHumanRandomness_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AccountHumanRandomness_21_time)))
DeriveFact || F769 || c538 -> (c309) || F415 L527
DeriveFact || F770 || c538 -> (c310) || F416 L527
Def || L528 || c539 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_510: Measure. (p_Measure_510_presence & ((RobotMoving_15_time = p_Measure_510_time) & EXISTS p_TrackHumanLocation_81: TrackHumanLocation. (p_TrackHumanLocation_81_presence & ((p_TrackHumanLocation_81_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_TrackHumanLocation_81_time))))))
DeriveFact || F771 || c539 -> (c56 | c164) || F67 L180 L528
Def || L529 || c540 <-> (t_TrackHumanLocation_20_presence & ((t_TrackHumanLocation_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_TrackHumanLocation_20_time)))
DeriveFact || F772 || c540 -> (c171) || F229 L529
DeriveFact || F773 || c540 -> (c172) || F230 L529
Def || L530 || c541 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_515: Measure. (p_Measure_515_presence & ((t_RobotMoving_15_time = p_Measure_515_time) & EXISTS p_TrackHumanLocation_82: TrackHumanLocation. (p_TrackHumanLocation_82_presence & ((p_TrackHumanLocation_82_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_TrackHumanLocation_82_time))))))
DeriveFact || F774 || c541 -> (c236 | c314) || F322 L313 L530
Def || L531 || c542 <-> (t_TrackHumanLocation_21_presence & ((t_TrackHumanLocation_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_TrackHumanLocation_21_time)))
DeriveFact || F775 || c542 -> (c321) || F432 L531
DeriveFact || F776 || c542 -> (c322) || F433 L531
Def || L532 || c543 <-> ((! InformHuman_7_presence) | EXISTS p_Measure_511: Measure. (p_Measure_511_presence & ((InformHuman_7_time = p_Measure_511_time) & (((! (True & (! p_Measure_511_routeAvailable))) | EXISTS p_AskPermission_74: AskPermission. (p_AskPermission_74_presence & ((p_AskPermission_74_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AskPermission_74_time)))) & ((! ((True & p_Measure_511_routeAvailable) & p_Measure_511_humanInRoute)) | EXISTS p_AdjustRoute_121: AdjustRoute. (p_AdjustRoute_121_presence & ((p_AdjustRoute_121_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AdjustRoute_121_time)))) & ((! (((True & p_Measure_511_routeAvailable) & (! p_Measure_511_humanInRoute)) & True)) | EXISTS p_RobotMoving_418: RobotMoving. (p_RobotMoving_418_presence & ((p_RobotMoving_418_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_RobotMoving_418_time))))))))
DeriveFact || F777 || c543 -> (c196 | c197) || F270 L211 L532
Def || L533 || c544 <-> (t_AskPermission_15_presence & ((t_AskPermission_15_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_AskPermission_15_time)))
DeriveFact || F778 || c544 -> (c211) || F287 L533
DeriveFact || F779 || c544 -> (c212) || F288 L533
Def || L534 || c545 <-> (t_AdjustRoute_54_presence & ((t_AdjustRoute_54_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_AdjustRoute_54_time)))
DeriveFact || F780 || c545 -> (c220) || F298 L534
DeriveFact || F781 || c545 -> (c221) || F299 L534
Def || L535 || c546 <-> (t_RobotMoving_15_presence & ((t_RobotMoving_15_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_RobotMoving_15_time)))
DeriveFact || F782 || c546 -> (c228) || F308 L535
DeriveFact || F783 || c546 -> (c229) || F309 L535
Def || L536 || c547 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_519: Measure. (p_Measure_519_presence & ((RobotMoving_15_time = p_Measure_519_time) & (((! (True & ((p_Measure_519_efficiency = 0) & (p_Measure_519_risk = 0)))) | EXISTS p_IncreaseSpeed_44: IncreaseSpeed. (p_IncreaseSpeed_44_presence & ((p_IncreaseSpeed_44_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_IncreaseSpeed_44_time)))) & ((! ((True & (! ((p_Measure_519_efficiency = 0) & (p_Measure_519_risk = 0)))) & True)) | EXISTS p_MoveAtSafeSpeed_46: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_46_presence & ((p_MoveAtSafeSpeed_46_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_MoveAtSafeSpeed_46_time))))))))
DeriveFact || F784 || c547 -> (c56 | c466) || F67 L464 L536
Def || L537 || c548 <-> (t_IncreaseSpeed_20_presence & ((t_IncreaseSpeed_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_IncreaseSpeed_20_time)))
DeriveFact || F785 || c548 -> (c481) || F689 L537
DeriveFact || F786 || c548 -> (c482) || F690 L537
Def || L538 || c549 <-> (t_MoveAtSafeSpeed_20_presence & ((t_MoveAtSafeSpeed_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_MoveAtSafeSpeed_20_time)))
DeriveFact || F787 || c549 -> (c491) || F702 L538
DeriveFact || F788 || c549 -> (c492) || F703 L538
Def || L539 || c550 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_520: Measure. (p_Measure_520_presence & ((t_RobotMoving_15_time = p_Measure_520_time) & (((! (True & ((p_Measure_520_efficiency = 0) & (p_Measure_520_risk = 0)))) | EXISTS p_IncreaseSpeed_45: IncreaseSpeed. (p_IncreaseSpeed_45_presence & ((p_IncreaseSpeed_45_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_IncreaseSpeed_45_time)))) & ((! ((True & (! ((p_Measure_520_efficiency = 0) & (p_Measure_520_risk = 0)))) & True)) | EXISTS p_MoveAtSafeSpeed_47: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_47_presence & ((p_MoveAtSafeSpeed_47_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_MoveAtSafeSpeed_47_time))))))))
DeriveFact || F789 || c550 -> (c236 | c494) || F322 L488 L539
Def || L540 || c551 <-> (t_IncreaseSpeed_21_presence & ((t_IncreaseSpeed_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_IncreaseSpeed_21_time)))
DeriveFact || F790 || c551 -> (c509) || F724 L540
DeriveFact || F791 || c551 -> (c510) || F725 L540
Def || L541 || c552 <-> (t_MoveAtSafeSpeed_21_presence & ((t_MoveAtSafeSpeed_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_MoveAtSafeSpeed_21_time)))
DeriveFact || F792 || c552 -> (c519) || F737 L541
DeriveFact || F793 || c552 -> (c520) || F738 L541
Def || L542 || c553 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_507: Measure. (p_Measure_507_presence & ((RobotMoving_15_time = p_Measure_507_time) & (((! (True & p_Measure_507_bumpHuman)) | EXISTS p_InquireSafety_45: InquireSafety. (p_InquireSafety_45_presence & ((p_InquireSafety_45_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_InquireSafety_45_time)))) & ((! ((True & (! p_Measure_507_bumpHuman)) & p_Measure_507_humanTooClose)) | EXISTS p_AdjustRoute_119: AdjustRoute. (p_AdjustRoute_119_presence & ((p_AdjustRoute_119_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_119_time)))) & ((! (((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & p_Measure_507_humanInRoute)) | EXISTS p_AdjustRoute_118: AdjustRoute. (p_AdjustRoute_118_presence & ((p_AdjustRoute_118_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_118_time)))) & ((! ((((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & (! p_Measure_507_humanInRoute)) & True)) | EXISTS p_AvoidBumping_93: AvoidBumping. (p_AvoidBumping_93_presence & ((p_AvoidBumping_93_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_93_time))))))))
DeriveFact || F794 || c553 -> (c56 | c57) || F67 L84 L542
Def || L543 || c554 <-> (t_InquireSafety_20_presence & ((t_InquireSafety_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_InquireSafety_20_time)))
DeriveFact || F795 || c554 -> (c73) || F86 L543
DeriveFact || F796 || c554 -> (c74) || F87 L543
Def || L544 || c555 <-> (t_AdjustRoute_52_presence & ((t_AdjustRoute_52_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_52_time)))
DeriveFact || F797 || c555 -> (c82) || F97 L544
DeriveFact || F798 || c555 -> (c83) || F98 L544
Def || L545 || c556 <-> (t_AdjustRoute_53_presence & ((t_AdjustRoute_53_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_53_time)))
DeriveFact || F799 || c556 -> (c91) || F108 L545
DeriveFact || F800 || c556 -> (c92) || F109 L545
Def || L546 || c557 <-> (t_AvoidBumping_40_presence & ((t_AvoidBumping_40_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_40_time)))
DeriveFact || F801 || c557 -> (c99) || F118 L546
DeriveFact || F802 || c557 -> (c100) || F119 L546
Def || L547 || c558 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_512: Measure. (p_Measure_512_presence & ((t_RobotMoving_15_time = p_Measure_512_time) & (((! (True & p_Measure_512_bumpHuman)) | EXISTS p_InquireSafety_46: InquireSafety. (p_InquireSafety_46_presence & ((p_InquireSafety_46_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_InquireSafety_46_time)))) & ((! ((True & (! p_Measure_512_bumpHuman)) & p_Measure_512_humanTooClose)) | EXISTS p_AdjustRoute_123: AdjustRoute. (p_AdjustRoute_123_presence & ((p_AdjustRoute_123_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_123_time)))) & ((! (((True & (! p_Measure_512_bumpHuman)) & (! p_Measure_512_humanTooClose)) & p_Measure_512_humanInRoute)) | EXISTS p_AdjustRoute_122: AdjustRoute. (p_AdjustRoute_122_presence & ((p_AdjustRoute_122_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_122_time)))) & ((! ((((True & (! p_Measure_512_bumpHuman)) & (! p_Measure_512_humanTooClose)) & (! p_Measure_512_humanInRoute)) & True)) | EXISTS p_AvoidBumping_96: AvoidBumping. (p_AvoidBumping_96_presence & ((p_AvoidBumping_96_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_96_time))))))))
DeriveFact || F803 || c558 -> (c236 | c237) || F322 L246 L547
Def || L548 || c559 <-> (t_InquireSafety_21_presence & ((t_InquireSafety_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_InquireSafety_21_time)))
DeriveFact || F804 || c559 -> (c252) || F340 L548
DeriveFact || F805 || c559 -> (c253) || F341 L548
Def || L549 || c560 <-> (t_AdjustRoute_55_presence & ((t_AdjustRoute_55_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AdjustRoute_55_time)))
DeriveFact || F806 || c560 -> (c261) || F351 L549
DeriveFact || F807 || c560 -> (c262) || F352 L549
Def || L550 || c561 <-> (t_AdjustRoute_56_presence & ((t_AdjustRoute_56_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AdjustRoute_56_time)))
DeriveFact || F808 || c561 -> (c270) || F362 L550
DeriveFact || F809 || c561 -> (c271) || F363 L550
Def || L551 || c562 <-> (t_AvoidBumping_42_presence & ((t_AvoidBumping_42_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AvoidBumping_42_time)))
DeriveFact || F810 || c562 -> (c278) || F372 L551
DeriveFact || F811 || c562 -> (c279) || F373 L551
Def || L552 || c563 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_508: Measure. (p_Measure_508_presence & ((RobotMoving_15_time = p_Measure_508_time) & ((! (p_Measure_508_humanInRange | (p_Measure_508_humanTooClose | (! p_Measure_508_routeAvailable)))) | EXISTS p_AvoidBumping_95: AvoidBumping. (p_AvoidBumping_95_presence & ((p_AvoidBumping_95_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_95_time)))))))
DeriveFact || F812 || c563 -> (c56 | c112) || F67 L132 L552
Def || L553 || c564 <-> (t_AvoidBumping_41_presence & ((t_AvoidBumping_41_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_41_time)))
DeriveFact || F813 || c564 -> (c126) || F159 L553
DeriveFact || F814 || c564 -> (c127) || F160 L553
Def || L554 || c565 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_513: Measure. (p_Measure_513_presence & ((t_RobotMoving_15_time = p_Measure_513_time) & ((! (p_Measure_513_humanInRange | (p_Measure_513_humanTooClose | (! p_Measure_513_routeAvailable)))) | EXISTS p_AvoidBumping_98: AvoidBumping. (p_AvoidBumping_98_presence & ((p_AvoidBumping_98_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_98_time)))))))
DeriveFact || F815 || c565 -> (c236 | c283) || F322 L286 L554
Def || L555 || c566 <-> (t_AvoidBumping_43_presence & ((t_AvoidBumping_43_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AvoidBumping_43_time)))
DeriveFact || F816 || c566 -> (c297) || F398 L555
DeriveFact || F817 || c566 -> (c298) || F399 L555
Def || L556 || c567 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_509: Measure. (p_Measure_509_presence & ((RobotMoving_15_time = p_Measure_509_time) & EXISTS p_AccountHumanRandomness_47: AccountHumanRandomness. (p_AccountHumanRandomness_47_presence & ((p_AccountHumanRandomness_47_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AccountHumanRandomness_47_time))))))
DeriveFact || F818 || c567 -> (c56 | c136) || F67 L153 L556
Def || L557 || c568 <-> (t_AccountHumanRandomness_20_presence & ((t_AccountHumanRandomness_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AccountHumanRandomness_20_time)))
DeriveFact || F819 || c568 -> (c143) || F185 L557
DeriveFact || F820 || c568 -> (c144) || F186 L557
Def || L558 || c569 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_514: Measure. (p_Measure_514_presence & ((t_RobotMoving_15_time = p_Measure_514_time) & EXISTS p_AccountHumanRandomness_48: AccountHumanRandomness. (p_AccountHumanRandomness_48_presence & ((p_AccountHumanRandomness_48_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AccountHumanRandomness_48_time))))))
DeriveFact || F821 || c569 -> (c236 | c302) || F322 L302 L558
Def || L559 || c570 <-> (t_AccountHumanRandomness_21_presence & ((t_AccountHumanRandomness_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AccountHumanRandomness_21_time)))
DeriveFact || F822 || c570 -> (c309) || F415 L559
DeriveFact || F823 || c570 -> (c310) || F416 L559
Def || L560 || c571 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_510: Measure. (p_Measure_510_presence & ((RobotMoving_15_time = p_Measure_510_time) & EXISTS p_TrackHumanLocation_81: TrackHumanLocation. (p_TrackHumanLocation_81_presence & ((p_TrackHumanLocation_81_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_TrackHumanLocation_81_time))))))
DeriveFact || F824 || c571 -> (c56 | c164) || F67 L180 L560
Def || L561 || c572 <-> (t_TrackHumanLocation_20_presence & ((t_TrackHumanLocation_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_TrackHumanLocation_20_time)))
DeriveFact || F825 || c572 -> (c171) || F229 L561
DeriveFact || F826 || c572 -> (c172) || F230 L561
Def || L562 || c573 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_515: Measure. (p_Measure_515_presence & ((t_RobotMoving_15_time = p_Measure_515_time) & EXISTS p_TrackHumanLocation_82: TrackHumanLocation. (p_TrackHumanLocation_82_presence & ((p_TrackHumanLocation_82_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_TrackHumanLocation_82_time))))))
DeriveFact || F827 || c573 -> (c236 | c314) || F322 L313 L562
Def || L563 || c574 <-> (t_TrackHumanLocation_21_presence & ((t_TrackHumanLocation_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_TrackHumanLocation_21_time)))
DeriveFact || F828 || c574 -> (c321) || F432 L563
DeriveFact || F829 || c574 -> (c322) || F433 L563
Def || L564 || c575 <-> ((! InformHuman_7_presence) | EXISTS p_Measure_511: Measure. (p_Measure_511_presence & ((InformHuman_7_time = p_Measure_511_time) & (((! (True & (! p_Measure_511_routeAvailable))) | EXISTS p_AskPermission_74: AskPermission. (p_AskPermission_74_presence & ((p_AskPermission_74_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AskPermission_74_time)))) & ((! ((True & p_Measure_511_routeAvailable) & p_Measure_511_humanInRoute)) | EXISTS p_AdjustRoute_121: AdjustRoute. (p_AdjustRoute_121_presence & ((p_AdjustRoute_121_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AdjustRoute_121_time)))) & ((! (((True & p_Measure_511_routeAvailable) & (! p_Measure_511_humanInRoute)) & True)) | EXISTS p_RobotMoving_418: RobotMoving. (p_RobotMoving_418_presence & ((p_RobotMoving_418_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_RobotMoving_418_time))))))))
DeriveFact || F830 || c575 -> (c196 | c197) || F270 L211 L564
Def || L565 || c576 <-> (t_AskPermission_15_presence & ((t_AskPermission_15_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_AskPermission_15_time)))
DeriveFact || F831 || c576 -> (c211) || F287 L565
DeriveFact || F832 || c576 -> (c212) || F288 L565
Def || L566 || c577 <-> (t_AdjustRoute_54_presence & ((t_AdjustRoute_54_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_AdjustRoute_54_time)))
DeriveFact || F833 || c577 -> (c220) || F298 L566
DeriveFact || F834 || c577 -> (c221) || F299 L566
Def || L567 || c578 <-> (t_RobotMoving_15_presence & ((t_RobotMoving_15_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_RobotMoving_15_time)))
DeriveFact || F835 || c578 -> (c228) || F308 L567
DeriveFact || F836 || c578 -> (c229) || F309 L567
Def || L568 || c579 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_519: Measure. (p_Measure_519_presence & ((RobotMoving_15_time = p_Measure_519_time) & (((! (True & ((p_Measure_519_efficiency = 0) & (p_Measure_519_risk = 0)))) | EXISTS p_IncreaseSpeed_44: IncreaseSpeed. (p_IncreaseSpeed_44_presence & ((p_IncreaseSpeed_44_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_IncreaseSpeed_44_time)))) & ((! ((True & (! ((p_Measure_519_efficiency = 0) & (p_Measure_519_risk = 0)))) & True)) | EXISTS p_MoveAtSafeSpeed_46: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_46_presence & ((p_MoveAtSafeSpeed_46_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_MoveAtSafeSpeed_46_time))))))))
DeriveFact || F837 || c579 -> (c56 | c466) || F67 L464 L568
Def || L569 || c580 <-> (t_IncreaseSpeed_20_presence & ((t_IncreaseSpeed_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_IncreaseSpeed_20_time)))
DeriveFact || F838 || c580 -> (c481) || F689 L569
DeriveFact || F839 || c580 -> (c482) || F690 L569
Def || L570 || c581 <-> (t_MoveAtSafeSpeed_20_presence & ((t_MoveAtSafeSpeed_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_MoveAtSafeSpeed_20_time)))
DeriveFact || F840 || c581 -> (c491) || F702 L570
DeriveFact || F841 || c581 -> (c492) || F703 L570
Def || L571 || c582 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_520: Measure. (p_Measure_520_presence & ((t_RobotMoving_15_time = p_Measure_520_time) & (((! (True & ((p_Measure_520_efficiency = 0) & (p_Measure_520_risk = 0)))) | EXISTS p_IncreaseSpeed_45: IncreaseSpeed. (p_IncreaseSpeed_45_presence & ((p_IncreaseSpeed_45_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_IncreaseSpeed_45_time)))) & ((! ((True & (! ((p_Measure_520_efficiency = 0) & (p_Measure_520_risk = 0)))) & True)) | EXISTS p_MoveAtSafeSpeed_47: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_47_presence & ((p_MoveAtSafeSpeed_47_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_MoveAtSafeSpeed_47_time))))))))
DeriveFact || F842 || c582 -> (c236 | c494) || F322 L488 L571
Def || L572 || c583 <-> (t_IncreaseSpeed_21_presence & ((t_IncreaseSpeed_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_IncreaseSpeed_21_time)))
DeriveFact || F843 || c583 -> (c509) || F724 L572
DeriveFact || F844 || c583 -> (c510) || F725 L572
Def || L573 || c584 <-> (t_MoveAtSafeSpeed_21_presence & ((t_MoveAtSafeSpeed_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_MoveAtSafeSpeed_21_time)))
DeriveFact || F845 || c584 -> (c519) || F737 L573
DeriveFact || F846 || c584 -> (c520) || F738 L573
DeriveLemma || UI L17 [p_RobotMoving_8:RobotMoving<-RobotMoving_15]  || L574 || c8 -> ((! RobotMoving_15_presence) | EXISTS p_Measure_517: Measure. (p_Measure_517_presence & ((RobotMoving_15_time = p_Measure_517_time) & ((! p_Measure_517_humanInRange) | (((! (True & p_Measure_517_humanReEnables)) | EXISTS p_RobotContinueTask_83: RobotContinueTask. (p_RobotContinueTask_83_presence & ((p_RobotContinueTask_83_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_RobotContinueTask_83_time)))) & ((! ((True & (! p_Measure_517_humanReEnables)) & True)) | EXISTS p_RobotStopAction_104: RobotStopAction. (p_RobotStopAction_104_presence & ((p_RobotStopAction_104_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_RobotStopAction_104_time))))))))) || L67
Def || L575 || c585 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_517: Measure. (p_Measure_517_presence & ((RobotMoving_15_time = p_Measure_517_time) & ((! p_Measure_517_humanInRange) | (((! (True & p_Measure_517_humanReEnables)) | EXISTS p_RobotContinueTask_83: RobotContinueTask. (p_RobotContinueTask_83_presence & ((p_RobotContinueTask_83_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_RobotContinueTask_83_time)))) & ((! ((True & (! p_Measure_517_humanReEnables)) & True)) | EXISTS p_RobotStopAction_104: RobotStopAction. (p_RobotStopAction_104_presence & ((p_RobotStopAction_104_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_RobotStopAction_104_time)))))))))
DeriveFact || F847 || c8 -> c585 || L575 L574
Def || L576 || c586 <-> EXISTS p_Measure_517: Measure. (p_Measure_517_presence & ((RobotMoving_15_time = p_Measure_517_time) & ((! p_Measure_517_humanInRange) | (((! (True & p_Measure_517_humanReEnables)) | EXISTS p_RobotContinueTask_83: RobotContinueTask. (p_RobotContinueTask_83_presence & ((p_RobotContinueTask_83_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_RobotContinueTask_83_time)))) & ((! ((True & (! p_Measure_517_humanReEnables)) & True)) | EXISTS p_RobotStopAction_104: RobotStopAction. (p_RobotStopAction_104_presence & ((p_RobotStopAction_104_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_RobotStopAction_104_time))))))))
DeriveFact || F848 || c585 -> (c56 | c586) || F67 L576 L575
DeriveLemma || EI L576  [p_Measure_517:Measure<-t_Measure_348] || L577 || c586 -> (t_Measure_348_presence & ((RobotMoving_15_time = t_Measure_348_time) & ((! t_Measure_348_humanInRange) | (((! (True & t_Measure_348_humanReEnables)) | EXISTS p_RobotContinueTask_81: RobotContinueTask. (p_RobotContinueTask_81_presence & ((p_RobotContinueTask_81_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_RobotContinueTask_81_time)))) & ((! ((True & (! t_Measure_348_humanReEnables)) & True)) | EXISTS p_RobotStopAction_102: RobotStopAction. (p_RobotStopAction_102_presence & ((p_RobotStopAction_102_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_RobotStopAction_102_time))))))))
Def || L578 || c587 <-> (t_Measure_348_presence & ((RobotMoving_15_time = t_Measure_348_time) & ((! t_Measure_348_humanInRange) | (((! (True & t_Measure_348_humanReEnables)) | EXISTS p_RobotContinueTask_81: RobotContinueTask. (p_RobotContinueTask_81_presence & ((p_RobotContinueTask_81_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_RobotContinueTask_81_time)))) & ((! ((True & (! t_Measure_348_humanReEnables)) & True)) | EXISTS p_RobotStopAction_102: RobotStopAction. (p_RobotStopAction_102_presence & ((p_RobotStopAction_102_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_RobotStopAction_102_time))))))))
DeriveFact || F849 || c586 -> c587 || L578 L577
AddFact || F850 || c588 <-> t_Measure_348_presence
Def || L579 || c589 <-> ((RobotMoving_15_time = t_Measure_348_time) & ((! t_Measure_348_humanInRange) | (((! (True & t_Measure_348_humanReEnables)) | EXISTS p_RobotContinueTask_81: RobotContinueTask. (p_RobotContinueTask_81_presence & ((p_RobotContinueTask_81_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_RobotContinueTask_81_time)))) & ((! ((True & (! t_Measure_348_humanReEnables)) & True)) | EXISTS p_RobotStopAction_102: RobotStopAction. (p_RobotStopAction_102_presence & ((p_RobotStopAction_102_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_RobotStopAction_102_time)))))))
DeriveFact || F851 || c587 -> (c588) || F850 L578
DeriveFact || F852 || c587 -> (c589) || L579 L578
AddFact || F853 || c590 <-> (RobotMoving_15_time = t_Measure_348_time)
Def || L580 || c591 <-> ((! t_Measure_348_humanInRange) | (((! (True & t_Measure_348_humanReEnables)) | EXISTS p_RobotContinueTask_81: RobotContinueTask. (p_RobotContinueTask_81_presence & ((p_RobotContinueTask_81_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_RobotContinueTask_81_time)))) & ((! ((True & (! t_Measure_348_humanReEnables)) & True)) | EXISTS p_RobotStopAction_102: RobotStopAction. (p_RobotStopAction_102_presence & ((p_RobotStopAction_102_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_RobotStopAction_102_time))))))
DeriveFact || F854 || c589 -> (c590) || F853 L579
DeriveFact || F855 || c589 -> (c591) || L580 L579
AddFact || F856 || c592 <-> (! t_Measure_348_humanInRange) || 2102 2116
Def || L581 || c593 <-> (((! (True & t_Measure_348_humanReEnables)) | EXISTS p_RobotContinueTask_81: RobotContinueTask. (p_RobotContinueTask_81_presence & ((p_RobotContinueTask_81_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_RobotContinueTask_81_time)))) & ((! ((True & (! t_Measure_348_humanReEnables)) & True)) | EXISTS p_RobotStopAction_102: RobotStopAction. (p_RobotStopAction_102_presence & ((p_RobotStopAction_102_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_RobotStopAction_102_time)))))
DeriveFact || F857 || c591 -> (c592 | c593) || F856 L581 L580
Def || L582 || c594 <-> ((! (True & t_Measure_348_humanReEnables)) | EXISTS p_RobotContinueTask_81: RobotContinueTask. (p_RobotContinueTask_81_presence & ((p_RobotContinueTask_81_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_RobotContinueTask_81_time))))
Def || L583 || c595 <-> ((! ((True & (! t_Measure_348_humanReEnables)) & True)) | EXISTS p_RobotStopAction_102: RobotStopAction. (p_RobotStopAction_102_presence & ((p_RobotStopAction_102_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_RobotStopAction_102_time))))
DeriveFact || F858 || c593 -> (c594) || L582 L581
DeriveFact || F859 || c593 -> (c595) || L583 L581
Def || L584 || c596 <-> (! (True & t_Measure_348_humanReEnables))
Def || L585 || c597 <-> EXISTS p_RobotContinueTask_81: RobotContinueTask. (p_RobotContinueTask_81_presence & ((p_RobotContinueTask_81_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_RobotContinueTask_81_time)))
DeriveFact || F860 || c594 -> (c596 | c597) || L584 L585 L582
DeriveLemma || NNF L584 || L586 || c596 <-> ((! True) | (! t_Measure_348_humanReEnables)) 
Def || L587 || c598 <-> ((! True) | (! t_Measure_348_humanReEnables))
DeriveFact || F861 || c596 -> c598 || L587 L586
AddFact || F862 || c599 <-> (! t_Measure_348_humanReEnables) || 2152 2168
DeriveFact || F863 || c598 -> (c70 | c599) || F82 F862 L587
DeriveLemma || EI L585  [p_RobotContinueTask_81:RobotContinueTask<-t_RobotContinueTask_22] || L588 || c597 -> (t_RobotContinueTask_22_presence & ((t_RobotContinueTask_22_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_RobotContinueTask_22_time)))
Def || L589 || c600 <-> (t_RobotContinueTask_22_presence & ((t_RobotContinueTask_22_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_RobotContinueTask_22_time)))
DeriveFact || F864 || c597 -> c600 || L589 L588
AddFact || F865 || c601 <-> t_RobotContinueTask_22_presence || 2174 2191
AddFact || F866 || c602 <-> ((t_RobotContinueTask_22_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_RobotContinueTask_22_time))
DeriveFact || F867 || c600 -> (c601) || F865 L589
DeriveFact || F868 || c600 -> (c602) || F866 L589
Def || L590 || c603 <-> (! ((True & (! t_Measure_348_humanReEnables)) & True))
Def || L591 || c604 <-> EXISTS p_RobotStopAction_102: RobotStopAction. (p_RobotStopAction_102_presence & ((p_RobotStopAction_102_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_RobotStopAction_102_time)))
DeriveFact || F869 || c595 -> (c603 | c604) || L590 L591 L583
DeriveLemma || NNF L590 || L592 || c603 <-> (((! True) | t_Measure_348_humanReEnables) | (! True)) 
Def || L593 || c605 <-> (((! True) | t_Measure_348_humanReEnables) | (! True))
DeriveFact || F870 || c603 -> c605 || L593 L592
Def || L594 || c606 <-> ((! True) | t_Measure_348_humanReEnables)
DeriveFact || F871 || c605 -> (c606 | c70) || L594 F82 L593
AddFact || F872 || c607 <-> t_Measure_348_humanReEnables || 2152 2168
DeriveFact || F873 || c606 -> (c70 | c607) || F82 F872 L594
DeriveLemma || EI L591  [p_RobotStopAction_102:RobotStopAction<-t_RobotStopAction_43] || L595 || c604 -> (t_RobotStopAction_43_presence & ((t_RobotStopAction_43_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_RobotStopAction_43_time)))
Def || L596 || c608 <-> (t_RobotStopAction_43_presence & ((t_RobotStopAction_43_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_RobotStopAction_43_time)))
DeriveFact || F874 || c604 -> c608 || L596 L595
AddFact || F875 || c609 <-> t_RobotStopAction_43_presence || 2122 2137
AddFact || F876 || c610 <-> ((t_RobotStopAction_43_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_RobotStopAction_43_time))
DeriveFact || F877 || c608 -> (c609) || F875 L596
DeriveFact || F878 || c608 -> (c610) || F876 L596
DeriveLemma || UI L17 [p_RobotMoving_8:RobotMoving<-t_RobotMoving_15]  || L597 || c8 -> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_518: Measure. (p_Measure_518_presence & ((t_RobotMoving_15_time = p_Measure_518_time) & ((! p_Measure_518_humanInRange) | (((! (True & p_Measure_518_humanReEnables)) | EXISTS p_RobotContinueTask_84: RobotContinueTask. (p_RobotContinueTask_84_presence & ((p_RobotContinueTask_84_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_RobotContinueTask_84_time)))) & ((! ((True & (! p_Measure_518_humanReEnables)) & True)) | EXISTS p_RobotStopAction_105: RobotStopAction. (p_RobotStopAction_105_presence & ((p_RobotStopAction_105_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_RobotStopAction_105_time))))))))) || L237
Def || L598 || c611 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_518: Measure. (p_Measure_518_presence & ((t_RobotMoving_15_time = p_Measure_518_time) & ((! p_Measure_518_humanInRange) | (((! (True & p_Measure_518_humanReEnables)) | EXISTS p_RobotContinueTask_84: RobotContinueTask. (p_RobotContinueTask_84_presence & ((p_RobotContinueTask_84_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_RobotContinueTask_84_time)))) & ((! ((True & (! p_Measure_518_humanReEnables)) & True)) | EXISTS p_RobotStopAction_105: RobotStopAction. (p_RobotStopAction_105_presence & ((p_RobotStopAction_105_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_RobotStopAction_105_time)))))))))
DeriveFact || F879 || c8 -> c611 || L598 L597
Def || L599 || c612 <-> EXISTS p_Measure_518: Measure. (p_Measure_518_presence & ((t_RobotMoving_15_time = p_Measure_518_time) & ((! p_Measure_518_humanInRange) | (((! (True & p_Measure_518_humanReEnables)) | EXISTS p_RobotContinueTask_84: RobotContinueTask. (p_RobotContinueTask_84_presence & ((p_RobotContinueTask_84_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_RobotContinueTask_84_time)))) & ((! ((True & (! p_Measure_518_humanReEnables)) & True)) | EXISTS p_RobotStopAction_105: RobotStopAction. (p_RobotStopAction_105_presence & ((p_RobotStopAction_105_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_RobotStopAction_105_time))))))))
DeriveFact || F880 || c611 -> (c236 | c612) || F322 L599 L598
DeriveLemma || EI L599  [p_Measure_518:Measure<-t_Measure_349] || L600 || c612 -> (t_Measure_349_presence & ((t_RobotMoving_15_time = t_Measure_349_time) & ((! t_Measure_349_humanInRange) | (((! (True & t_Measure_349_humanReEnables)) | EXISTS p_RobotContinueTask_82: RobotContinueTask. (p_RobotContinueTask_82_presence & ((p_RobotContinueTask_82_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_RobotContinueTask_82_time)))) & ((! ((True & (! t_Measure_349_humanReEnables)) & True)) | EXISTS p_RobotStopAction_103: RobotStopAction. (p_RobotStopAction_103_presence & ((p_RobotStopAction_103_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_RobotStopAction_103_time))))))))
Def || L601 || c613 <-> (t_Measure_349_presence & ((t_RobotMoving_15_time = t_Measure_349_time) & ((! t_Measure_349_humanInRange) | (((! (True & t_Measure_349_humanReEnables)) | EXISTS p_RobotContinueTask_82: RobotContinueTask. (p_RobotContinueTask_82_presence & ((p_RobotContinueTask_82_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_RobotContinueTask_82_time)))) & ((! ((True & (! t_Measure_349_humanReEnables)) & True)) | EXISTS p_RobotStopAction_103: RobotStopAction. (p_RobotStopAction_103_presence & ((p_RobotStopAction_103_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_RobotStopAction_103_time))))))))
DeriveFact || F881 || c612 -> c613 || L601 L600
AddFact || F882 || c614 <-> t_Measure_349_presence
Def || L602 || c615 <-> ((t_RobotMoving_15_time = t_Measure_349_time) & ((! t_Measure_349_humanInRange) | (((! (True & t_Measure_349_humanReEnables)) | EXISTS p_RobotContinueTask_82: RobotContinueTask. (p_RobotContinueTask_82_presence & ((p_RobotContinueTask_82_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_RobotContinueTask_82_time)))) & ((! ((True & (! t_Measure_349_humanReEnables)) & True)) | EXISTS p_RobotStopAction_103: RobotStopAction. (p_RobotStopAction_103_presence & ((p_RobotStopAction_103_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_RobotStopAction_103_time)))))))
DeriveFact || F883 || c613 -> (c614) || F882 L601
DeriveFact || F884 || c613 -> (c615) || L602 L601
AddFact || F885 || c616 <-> (t_RobotMoving_15_time = t_Measure_349_time)
Def || L603 || c617 <-> ((! t_Measure_349_humanInRange) | (((! (True & t_Measure_349_humanReEnables)) | EXISTS p_RobotContinueTask_82: RobotContinueTask. (p_RobotContinueTask_82_presence & ((p_RobotContinueTask_82_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_RobotContinueTask_82_time)))) & ((! ((True & (! t_Measure_349_humanReEnables)) & True)) | EXISTS p_RobotStopAction_103: RobotStopAction. (p_RobotStopAction_103_presence & ((p_RobotStopAction_103_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_RobotStopAction_103_time))))))
DeriveFact || F886 || c615 -> (c616) || F885 L602
DeriveFact || F887 || c615 -> (c617) || L603 L602
AddFact || F888 || c618 <-> (! t_Measure_349_humanInRange) || 2102 2116
Def || L604 || c619 <-> (((! (True & t_Measure_349_humanReEnables)) | EXISTS p_RobotContinueTask_82: RobotContinueTask. (p_RobotContinueTask_82_presence & ((p_RobotContinueTask_82_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_RobotContinueTask_82_time)))) & ((! ((True & (! t_Measure_349_humanReEnables)) & True)) | EXISTS p_RobotStopAction_103: RobotStopAction. (p_RobotStopAction_103_presence & ((p_RobotStopAction_103_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_RobotStopAction_103_time)))))
DeriveFact || F889 || c617 -> (c618 | c619) || F888 L604 L603
Def || L605 || c620 <-> ((! (True & t_Measure_349_humanReEnables)) | EXISTS p_RobotContinueTask_82: RobotContinueTask. (p_RobotContinueTask_82_presence & ((p_RobotContinueTask_82_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_RobotContinueTask_82_time))))
Def || L606 || c621 <-> ((! ((True & (! t_Measure_349_humanReEnables)) & True)) | EXISTS p_RobotStopAction_103: RobotStopAction. (p_RobotStopAction_103_presence & ((p_RobotStopAction_103_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_RobotStopAction_103_time))))
DeriveFact || F890 || c619 -> (c620) || L605 L604
DeriveFact || F891 || c619 -> (c621) || L606 L604
Def || L607 || c622 <-> (! (True & t_Measure_349_humanReEnables))
Def || L608 || c623 <-> EXISTS p_RobotContinueTask_82: RobotContinueTask. (p_RobotContinueTask_82_presence & ((p_RobotContinueTask_82_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_RobotContinueTask_82_time)))
DeriveFact || F892 || c620 -> (c622 | c623) || L607 L608 L605
DeriveLemma || NNF L607 || L609 || c622 <-> ((! True) | (! t_Measure_349_humanReEnables)) 
Def || L610 || c624 <-> ((! True) | (! t_Measure_349_humanReEnables))
DeriveFact || F893 || c622 -> c624 || L610 L609
AddFact || F894 || c625 <-> (! t_Measure_349_humanReEnables) || 2152 2168
DeriveFact || F895 || c624 -> (c70 | c625) || F82 F894 L610
DeriveLemma || EI L608  [p_RobotContinueTask_82:RobotContinueTask<-t_RobotContinueTask_23] || L611 || c623 -> (t_RobotContinueTask_23_presence & ((t_RobotContinueTask_23_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_RobotContinueTask_23_time)))
Def || L612 || c626 <-> (t_RobotContinueTask_23_presence & ((t_RobotContinueTask_23_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_RobotContinueTask_23_time)))
DeriveFact || F896 || c623 -> c626 || L612 L611
AddFact || F897 || c627 <-> t_RobotContinueTask_23_presence || 2174 2191
AddFact || F898 || c628 <-> ((t_RobotContinueTask_23_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_RobotContinueTask_23_time))
DeriveFact || F899 || c626 -> (c627) || F897 L612
DeriveFact || F900 || c626 -> (c628) || F898 L612
Def || L613 || c629 <-> (! ((True & (! t_Measure_349_humanReEnables)) & True))
Def || L614 || c630 <-> EXISTS p_RobotStopAction_103: RobotStopAction. (p_RobotStopAction_103_presence & ((p_RobotStopAction_103_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_RobotStopAction_103_time)))
DeriveFact || F901 || c621 -> (c629 | c630) || L613 L614 L606
DeriveLemma || NNF L613 || L615 || c629 <-> (((! True) | t_Measure_349_humanReEnables) | (! True)) 
Def || L616 || c631 <-> (((! True) | t_Measure_349_humanReEnables) | (! True))
DeriveFact || F902 || c629 -> c631 || L616 L615
Def || L617 || c632 <-> ((! True) | t_Measure_349_humanReEnables)
DeriveFact || F903 || c631 -> (c632 | c70) || L617 F82 L616
AddFact || F904 || c633 <-> t_Measure_349_humanReEnables || 2152 2168
DeriveFact || F905 || c632 -> (c70 | c633) || F82 F904 L617
DeriveLemma || EI L614  [p_RobotStopAction_103:RobotStopAction<-t_RobotStopAction_44] || L618 || c630 -> (t_RobotStopAction_44_presence & ((t_RobotStopAction_44_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_RobotStopAction_44_time)))
Def || L619 || c634 <-> (t_RobotStopAction_44_presence & ((t_RobotStopAction_44_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_RobotStopAction_44_time)))
DeriveFact || F906 || c630 -> c634 || L619 L618
AddFact || F907 || c635 <-> t_RobotStopAction_44_presence || 2122 2137
AddFact || F908 || c636 <-> ((t_RobotStopAction_44_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_RobotStopAction_44_time))
DeriveFact || F909 || c634 -> (c635) || F907 L619
DeriveFact || F910 || c634 -> (c636) || F908 L619
Def || L620 || c637 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_507: Measure. (p_Measure_507_presence & ((RobotMoving_15_time = p_Measure_507_time) & (((! (True & p_Measure_507_bumpHuman)) | EXISTS p_InquireSafety_45: InquireSafety. (p_InquireSafety_45_presence & ((p_InquireSafety_45_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_InquireSafety_45_time)))) & ((! ((True & (! p_Measure_507_bumpHuman)) & p_Measure_507_humanTooClose)) | EXISTS p_AdjustRoute_119: AdjustRoute. (p_AdjustRoute_119_presence & ((p_AdjustRoute_119_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_119_time)))) & ((! (((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & p_Measure_507_humanInRoute)) | EXISTS p_AdjustRoute_118: AdjustRoute. (p_AdjustRoute_118_presence & ((p_AdjustRoute_118_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AdjustRoute_118_time)))) & ((! ((((True & (! p_Measure_507_bumpHuman)) & (! p_Measure_507_humanTooClose)) & (! p_Measure_507_humanInRoute)) & True)) | EXISTS p_AvoidBumping_93: AvoidBumping. (p_AvoidBumping_93_presence & ((p_AvoidBumping_93_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_93_time))))))))
DeriveFact || F911 || c637 -> (c56 | c57) || F67 L84 L620
Def || L621 || c638 <-> (t_InquireSafety_20_presence & ((t_InquireSafety_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_InquireSafety_20_time)))
DeriveFact || F912 || c638 -> (c73) || F86 L621
DeriveFact || F913 || c638 -> (c74) || F87 L621
Def || L622 || c639 <-> (t_AdjustRoute_52_presence & ((t_AdjustRoute_52_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_52_time)))
DeriveFact || F914 || c639 -> (c82) || F97 L622
DeriveFact || F915 || c639 -> (c83) || F98 L622
Def || L623 || c640 <-> (t_AdjustRoute_53_presence & ((t_AdjustRoute_53_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AdjustRoute_53_time)))
DeriveFact || F916 || c640 -> (c91) || F108 L623
DeriveFact || F917 || c640 -> (c92) || F109 L623
Def || L624 || c641 <-> (t_AvoidBumping_40_presence & ((t_AvoidBumping_40_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_40_time)))
DeriveFact || F918 || c641 -> (c99) || F118 L624
DeriveFact || F919 || c641 -> (c100) || F119 L624
Def || L625 || c642 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_512: Measure. (p_Measure_512_presence & ((t_RobotMoving_15_time = p_Measure_512_time) & (((! (True & p_Measure_512_bumpHuman)) | EXISTS p_InquireSafety_46: InquireSafety. (p_InquireSafety_46_presence & ((p_InquireSafety_46_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_InquireSafety_46_time)))) & ((! ((True & (! p_Measure_512_bumpHuman)) & p_Measure_512_humanTooClose)) | EXISTS p_AdjustRoute_123: AdjustRoute. (p_AdjustRoute_123_presence & ((p_AdjustRoute_123_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_123_time)))) & ((! (((True & (! p_Measure_512_bumpHuman)) & (! p_Measure_512_humanTooClose)) & p_Measure_512_humanInRoute)) | EXISTS p_AdjustRoute_122: AdjustRoute. (p_AdjustRoute_122_presence & ((p_AdjustRoute_122_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AdjustRoute_122_time)))) & ((! ((((True & (! p_Measure_512_bumpHuman)) & (! p_Measure_512_humanTooClose)) & (! p_Measure_512_humanInRoute)) & True)) | EXISTS p_AvoidBumping_96: AvoidBumping. (p_AvoidBumping_96_presence & ((p_AvoidBumping_96_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_96_time))))))))
DeriveFact || F920 || c642 -> (c236 | c237) || F322 L246 L625
Def || L626 || c643 <-> (t_InquireSafety_21_presence & ((t_InquireSafety_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_InquireSafety_21_time)))
DeriveFact || F921 || c643 -> (c252) || F340 L626
DeriveFact || F922 || c643 -> (c253) || F341 L626
Def || L627 || c644 <-> (t_AdjustRoute_55_presence & ((t_AdjustRoute_55_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AdjustRoute_55_time)))
DeriveFact || F923 || c644 -> (c261) || F351 L627
DeriveFact || F924 || c644 -> (c262) || F352 L627
Def || L628 || c645 <-> (t_AdjustRoute_56_presence & ((t_AdjustRoute_56_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AdjustRoute_56_time)))
DeriveFact || F925 || c645 -> (c270) || F362 L628
DeriveFact || F926 || c645 -> (c271) || F363 L628
Def || L629 || c646 <-> (t_AvoidBumping_42_presence & ((t_AvoidBumping_42_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AvoidBumping_42_time)))
DeriveFact || F927 || c646 -> (c278) || F372 L629
DeriveFact || F928 || c646 -> (c279) || F373 L629
Def || L630 || c647 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_508: Measure. (p_Measure_508_presence & ((RobotMoving_15_time = p_Measure_508_time) & ((! (p_Measure_508_humanInRange | (p_Measure_508_humanTooClose | (! p_Measure_508_routeAvailable)))) | EXISTS p_AvoidBumping_95: AvoidBumping. (p_AvoidBumping_95_presence & ((p_AvoidBumping_95_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AvoidBumping_95_time)))))))
DeriveFact || F929 || c647 -> (c56 | c112) || F67 L132 L630
Def || L631 || c648 <-> (t_AvoidBumping_41_presence & ((t_AvoidBumping_41_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AvoidBumping_41_time)))
DeriveFact || F930 || c648 -> (c126) || F159 L631
DeriveFact || F931 || c648 -> (c127) || F160 L631
Def || L632 || c649 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_513: Measure. (p_Measure_513_presence & ((t_RobotMoving_15_time = p_Measure_513_time) & ((! (p_Measure_513_humanInRange | (p_Measure_513_humanTooClose | (! p_Measure_513_routeAvailable)))) | EXISTS p_AvoidBumping_98: AvoidBumping. (p_AvoidBumping_98_presence & ((p_AvoidBumping_98_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AvoidBumping_98_time)))))))
DeriveFact || F932 || c649 -> (c236 | c283) || F322 L286 L632
Def || L633 || c650 <-> (t_AvoidBumping_43_presence & ((t_AvoidBumping_43_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AvoidBumping_43_time)))
DeriveFact || F933 || c650 -> (c297) || F398 L633
DeriveFact || F934 || c650 -> (c298) || F399 L633
Def || L634 || c651 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_509: Measure. (p_Measure_509_presence & ((RobotMoving_15_time = p_Measure_509_time) & EXISTS p_AccountHumanRandomness_47: AccountHumanRandomness. (p_AccountHumanRandomness_47_presence & ((p_AccountHumanRandomness_47_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_AccountHumanRandomness_47_time))))))
DeriveFact || F935 || c651 -> (c56 | c136) || F67 L153 L634
Def || L635 || c652 <-> (t_AccountHumanRandomness_20_presence & ((t_AccountHumanRandomness_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_AccountHumanRandomness_20_time)))
DeriveFact || F936 || c652 -> (c143) || F185 L635
DeriveFact || F937 || c652 -> (c144) || F186 L635
Def || L636 || c653 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_514: Measure. (p_Measure_514_presence & ((t_RobotMoving_15_time = p_Measure_514_time) & EXISTS p_AccountHumanRandomness_48: AccountHumanRandomness. (p_AccountHumanRandomness_48_presence & ((p_AccountHumanRandomness_48_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_AccountHumanRandomness_48_time))))))
DeriveFact || F938 || c653 -> (c236 | c302) || F322 L302 L636
Def || L637 || c654 <-> (t_AccountHumanRandomness_21_presence & ((t_AccountHumanRandomness_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_AccountHumanRandomness_21_time)))
DeriveFact || F939 || c654 -> (c309) || F415 L637
DeriveFact || F940 || c654 -> (c310) || F416 L637
Def || L638 || c655 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_510: Measure. (p_Measure_510_presence & ((RobotMoving_15_time = p_Measure_510_time) & EXISTS p_TrackHumanLocation_81: TrackHumanLocation. (p_TrackHumanLocation_81_presence & ((p_TrackHumanLocation_81_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_TrackHumanLocation_81_time))))))
DeriveFact || F941 || c655 -> (c56 | c164) || F67 L180 L638
Def || L639 || c656 <-> (t_TrackHumanLocation_20_presence & ((t_TrackHumanLocation_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_TrackHumanLocation_20_time)))
DeriveFact || F942 || c656 -> (c171) || F229 L639
DeriveFact || F943 || c656 -> (c172) || F230 L639
Def || L640 || c657 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_515: Measure. (p_Measure_515_presence & ((t_RobotMoving_15_time = p_Measure_515_time) & EXISTS p_TrackHumanLocation_82: TrackHumanLocation. (p_TrackHumanLocation_82_presence & ((p_TrackHumanLocation_82_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_TrackHumanLocation_82_time))))))
DeriveFact || F944 || c657 -> (c236 | c314) || F322 L313 L640
Def || L641 || c658 <-> (t_TrackHumanLocation_21_presence & ((t_TrackHumanLocation_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_TrackHumanLocation_21_time)))
DeriveFact || F945 || c658 -> (c321) || F432 L641
DeriveFact || F946 || c658 -> (c322) || F433 L641
Def || L642 || c659 <-> ((! InformHuman_7_presence) | EXISTS p_Measure_511: Measure. (p_Measure_511_presence & ((InformHuman_7_time = p_Measure_511_time) & (((! (True & (! p_Measure_511_routeAvailable))) | EXISTS p_AskPermission_74: AskPermission. (p_AskPermission_74_presence & ((p_AskPermission_74_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AskPermission_74_time)))) & ((! ((True & p_Measure_511_routeAvailable) & p_Measure_511_humanInRoute)) | EXISTS p_AdjustRoute_121: AdjustRoute. (p_AdjustRoute_121_presence & ((p_AdjustRoute_121_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_AdjustRoute_121_time)))) & ((! (((True & p_Measure_511_routeAvailable) & (! p_Measure_511_humanInRoute)) & True)) | EXISTS p_RobotMoving_418: RobotMoving. (p_RobotMoving_418_presence & ((p_RobotMoving_418_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= p_RobotMoving_418_time))))))))
DeriveFact || F947 || c659 -> (c196 | c197) || F270 L211 L642
Def || L643 || c660 <-> (t_AskPermission_15_presence & ((t_AskPermission_15_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_AskPermission_15_time)))
DeriveFact || F948 || c660 -> (c211) || F287 L643
DeriveFact || F949 || c660 -> (c212) || F288 L643
Def || L644 || c661 <-> (t_AdjustRoute_54_presence & ((t_AdjustRoute_54_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_AdjustRoute_54_time)))
DeriveFact || F950 || c661 -> (c220) || F298 L644
DeriveFact || F951 || c661 -> (c221) || F299 L644
Def || L645 || c662 <-> (t_RobotMoving_15_presence & ((t_RobotMoving_15_time <= (InformHuman_7_time + 0)) & ((InformHuman_7_time + 0) <= t_RobotMoving_15_time)))
DeriveFact || F952 || c662 -> (c228) || F308 L645
DeriveFact || F953 || c662 -> (c229) || F309 L645
Def || L646 || c663 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_519: Measure. (p_Measure_519_presence & ((RobotMoving_15_time = p_Measure_519_time) & (((! (True & ((p_Measure_519_efficiency = 0) & (p_Measure_519_risk = 0)))) | EXISTS p_IncreaseSpeed_44: IncreaseSpeed. (p_IncreaseSpeed_44_presence & ((p_IncreaseSpeed_44_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_IncreaseSpeed_44_time)))) & ((! ((True & (! ((p_Measure_519_efficiency = 0) & (p_Measure_519_risk = 0)))) & True)) | EXISTS p_MoveAtSafeSpeed_46: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_46_presence & ((p_MoveAtSafeSpeed_46_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_MoveAtSafeSpeed_46_time))))))))
DeriveFact || F954 || c663 -> (c56 | c466) || F67 L464 L646
Def || L647 || c664 <-> (t_IncreaseSpeed_20_presence & ((t_IncreaseSpeed_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_IncreaseSpeed_20_time)))
DeriveFact || F955 || c664 -> (c481) || F689 L647
DeriveFact || F956 || c664 -> (c482) || F690 L647
Def || L648 || c665 <-> (t_MoveAtSafeSpeed_20_presence & ((t_MoveAtSafeSpeed_20_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_MoveAtSafeSpeed_20_time)))
DeriveFact || F957 || c665 -> (c491) || F702 L648
DeriveFact || F958 || c665 -> (c492) || F703 L648
Def || L649 || c666 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_520: Measure. (p_Measure_520_presence & ((t_RobotMoving_15_time = p_Measure_520_time) & (((! (True & ((p_Measure_520_efficiency = 0) & (p_Measure_520_risk = 0)))) | EXISTS p_IncreaseSpeed_45: IncreaseSpeed. (p_IncreaseSpeed_45_presence & ((p_IncreaseSpeed_45_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_IncreaseSpeed_45_time)))) & ((! ((True & (! ((p_Measure_520_efficiency = 0) & (p_Measure_520_risk = 0)))) & True)) | EXISTS p_MoveAtSafeSpeed_47: MoveAtSafeSpeed. (p_MoveAtSafeSpeed_47_presence & ((p_MoveAtSafeSpeed_47_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_MoveAtSafeSpeed_47_time))))))))
DeriveFact || F959 || c666 -> (c236 | c494) || F322 L488 L649
Def || L650 || c667 <-> (t_IncreaseSpeed_21_presence & ((t_IncreaseSpeed_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_IncreaseSpeed_21_time)))
DeriveFact || F960 || c667 -> (c509) || F724 L650
DeriveFact || F961 || c667 -> (c510) || F725 L650
Def || L651 || c668 <-> (t_MoveAtSafeSpeed_21_presence & ((t_MoveAtSafeSpeed_21_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_MoveAtSafeSpeed_21_time)))
DeriveFact || F962 || c668 -> (c519) || F737 L651
DeriveFact || F963 || c668 -> (c520) || F738 L651
Def || L652 || c669 <-> ((! RobotMoving_15_presence) | EXISTS p_Measure_517: Measure. (p_Measure_517_presence & ((RobotMoving_15_time = p_Measure_517_time) & ((! p_Measure_517_humanInRange) | (((! (True & p_Measure_517_humanReEnables)) | EXISTS p_RobotContinueTask_83: RobotContinueTask. (p_RobotContinueTask_83_presence & ((p_RobotContinueTask_83_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_RobotContinueTask_83_time)))) & ((! ((True & (! p_Measure_517_humanReEnables)) & True)) | EXISTS p_RobotStopAction_104: RobotStopAction. (p_RobotStopAction_104_presence & ((p_RobotStopAction_104_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= p_RobotStopAction_104_time)))))))))
DeriveFact || F964 || c669 -> (c56 | c586) || F67 L576 L652
Def || L653 || c670 <-> (t_RobotContinueTask_22_presence & ((t_RobotContinueTask_22_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_RobotContinueTask_22_time)))
DeriveFact || F965 || c670 -> (c601) || F865 L653
DeriveFact || F966 || c670 -> (c602) || F866 L653
Def || L654 || c671 <-> (t_RobotStopAction_43_presence & ((t_RobotStopAction_43_time <= (RobotMoving_15_time + 0)) & ((RobotMoving_15_time + 0) <= t_RobotStopAction_43_time)))
DeriveFact || F967 || c671 -> (c609) || F875 L654
DeriveFact || F968 || c671 -> (c610) || F876 L654
Def || L655 || c672 <-> ((! t_RobotMoving_15_presence) | EXISTS p_Measure_518: Measure. (p_Measure_518_presence & ((t_RobotMoving_15_time = p_Measure_518_time) & ((! p_Measure_518_humanInRange) | (((! (True & p_Measure_518_humanReEnables)) | EXISTS p_RobotContinueTask_84: RobotContinueTask. (p_RobotContinueTask_84_presence & ((p_RobotContinueTask_84_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_RobotContinueTask_84_time)))) & ((! ((True & (! p_Measure_518_humanReEnables)) & True)) | EXISTS p_RobotStopAction_105: RobotStopAction. (p_RobotStopAction_105_presence & ((p_RobotStopAction_105_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= p_RobotStopAction_105_time)))))))))
DeriveFact || F969 || c672 -> (c236 | c612) || F322 L599 L655
Def || L656 || c673 <-> (t_RobotContinueTask_23_presence & ((t_RobotContinueTask_23_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_RobotContinueTask_23_time)))
DeriveFact || F970 || c673 -> (c627) || F897 L656
DeriveFact || F971 || c673 -> (c628) || F898 L656
Def || L657 || c674 <-> (t_RobotStopAction_44_presence & ((t_RobotStopAction_44_time <= (t_RobotMoving_15_time + 0)) & ((t_RobotMoving_15_time + 0) <= t_RobotStopAction_44_time)))
DeriveFact || F972 || c674 -> (c635) || F907 L657
DeriveFact || F973 || c674 -> (c636) || F908 L657
DeriveLemma || UI L49 [p_AskPermission_0:AskPermission<-AskPermission_2]  || L658 || c24 -> ((! AskPermission_2_presence) | EXISTS p_Measure_521: Measure. (p_Measure_521_presence & ((AskPermission_2_time = p_Measure_521_time) & (! EXISTS p_RobotMoving_423: RobotMoving. (p_RobotMoving_423_presence & ((p_RobotMoving_423_time <= (AskPermission_2_time + 0)) & ((AskPermission_2_time + 0) <= p_RobotMoving_423_time))))))) || L56
Def || L659 || c675 <-> ((! AskPermission_2_presence) | EXISTS p_Measure_521: Measure. (p_Measure_521_presence & ((AskPermission_2_time = p_Measure_521_time) & (! EXISTS p_RobotMoving_423: RobotMoving. (p_RobotMoving_423_presence & ((p_RobotMoving_423_time <= (AskPermission_2_time + 0)) & ((AskPermission_2_time + 0) <= p_RobotMoving_423_time)))))))
DeriveFact || F974 || c24 -> c675 || L659 L658
AddFact || F975 || c676 <-> (! AskPermission_2_presence) || 3720 3733
Def || L660 || c677 <-> EXISTS p_Measure_521: Measure. (p_Measure_521_presence & ((AskPermission_2_time = p_Measure_521_time) & (! EXISTS p_RobotMoving_423: RobotMoving. (p_RobotMoving_423_presence & ((p_RobotMoving_423_time <= (AskPermission_2_time + 0)) & ((AskPermission_2_time + 0) <= p_RobotMoving_423_time))))))
DeriveFact || F976 || c675 -> (c676 | c677) || F975 L660 L659
DeriveLemma || EI L660  [p_Measure_521:Measure<-t_Measure_352] || L661 || c677 -> (t_Measure_352_presence & ((AskPermission_2_time = t_Measure_352_time) & (! EXISTS p_RobotMoving_419: RobotMoving. (p_RobotMoving_419_presence & ((p_RobotMoving_419_time <= (AskPermission_2_time + 0)) & ((AskPermission_2_time + 0) <= p_RobotMoving_419_time))))))
Def || L662 || c678 <-> (t_Measure_352_presence & ((AskPermission_2_time = t_Measure_352_time) & (! EXISTS p_RobotMoving_419: RobotMoving. (p_RobotMoving_419_presence & ((p_RobotMoving_419_time <= (AskPermission_2_time + 0)) & ((AskPermission_2_time + 0) <= p_RobotMoving_419_time))))))
DeriveFact || F977 || c677 -> c678 || L662 L661
AddFact || F978 || c679 <-> t_Measure_352_presence
Def || L663 || c680 <-> ((AskPermission_2_time = t_Measure_352_time) & (! EXISTS p_RobotMoving_419: RobotMoving. (p_RobotMoving_419_presence & ((p_RobotMoving_419_time <= (AskPermission_2_time + 0)) & ((AskPermission_2_time + 0) <= p_RobotMoving_419_time)))))
DeriveFact || F979 || c678 -> (c679) || F978 L662
DeriveFact || F980 || c678 -> (c680) || L663 L662
AddFact || F981 || c681 <-> (AskPermission_2_time = t_Measure_352_time)
Def || L664 || c682 <-> (! EXISTS p_RobotMoving_419: RobotMoving. (p_RobotMoving_419_presence & ((p_RobotMoving_419_time <= (AskPermission_2_time + 0)) & ((AskPermission_2_time + 0) <= p_RobotMoving_419_time))))
DeriveFact || F982 || c680 -> (c681) || F981 L663
DeriveFact || F983 || c680 -> (c682) || L664 L663
DeriveLemma || NNF L664 || L665 || c682 <-> Forall p_RobotMoving_420: RobotMoving. ( (! p_RobotMoving_420_presence) | (! ((p_RobotMoving_420_time <= (AskPermission_2_time + 0)) & ((AskPermission_2_time + 0) <= p_RobotMoving_420_time)))) 
Def || L666 || c683 <-> Forall p_RobotMoving_420: RobotMoving. ( (! p_RobotMoving_420_presence) | (! ((p_RobotMoving_420_time <= (AskPermission_2_time + 0)) & ((AskPermission_2_time + 0) <= p_RobotMoving_420_time))))
DeriveFact || F984 || c682 -> c683 || L666 L665
DeriveLemma || UI L666 [p_RobotMoving_420:RobotMoving<-RobotMoving_15]  || L667 || c683 -> ((! RobotMoving_15_presence) | (! ((RobotMoving_15_time <= (AskPermission_2_time + 0)) & ((AskPermission_2_time + 0) <= RobotMoving_15_time)))) || L67
Def || L668 || c684 <-> ((! RobotMoving_15_presence) | (! ((RobotMoving_15_time <= (AskPermission_2_time + 0)) & ((AskPermission_2_time + 0) <= RobotMoving_15_time))))
DeriveFact || F985 || c683 -> c684 || L668 L667
AddFact || F986 || c685 <-> (! ((RobotMoving_15_time <= (AskPermission_2_time + 0)) & ((AskPermission_2_time + 0) <= RobotMoving_15_time)))
DeriveFact || F987 || c684 -> (c56 | c685) || F67 F986 L668
DeriveLemma || UI L666 [p_RobotMoving_420:RobotMoving<-t_RobotMoving_15]  || L669 || c683 -> ((! t_RobotMoving_15_presence) | (! ((t_RobotMoving_15_time <= (AskPermission_2_time + 0)) & ((AskPermission_2_time + 0) <= t_RobotMoving_15_time)))) || L237
Def || L670 || c686 <-> ((! t_RobotMoving_15_presence) | (! ((t_RobotMoving_15_time <= (AskPermission_2_time + 0)) & ((AskPermission_2_time + 0) <= t_RobotMoving_15_time))))
DeriveFact || F988 || c683 -> c686 || L670 L669
AddFact || F989 || c687 <-> (! ((t_RobotMoving_15_time <= (AskPermission_2_time + 0)) & ((AskPermission_2_time + 0) <= t_RobotMoving_15_time)))
DeriveFact || F990 || c686 -> (c236 | c687) || F322 F989 L670
DeriveLemma || UI L49 [p_AskPermission_0:AskPermission<-AskPermission_3]  || L671 || c24 -> ((! AskPermission_3_presence) | EXISTS p_Measure_522: Measure. (p_Measure_522_presence & ((AskPermission_3_time = p_Measure_522_time) & (! EXISTS p_RobotMoving_424: RobotMoving. (p_RobotMoving_424_presence & ((p_RobotMoving_424_time <= (AskPermission_3_time + 0)) & ((AskPermission_3_time + 0) <= p_RobotMoving_424_time))))))) || L69
Def || L672 || c688 <-> ((! AskPermission_3_presence) | EXISTS p_Measure_522: Measure. (p_Measure_522_presence & ((AskPermission_3_time = p_Measure_522_time) & (! EXISTS p_RobotMoving_424: RobotMoving. (p_RobotMoving_424_presence & ((p_RobotMoving_424_time <= (AskPermission_3_time + 0)) & ((AskPermission_3_time + 0) <= p_RobotMoving_424_time)))))))
DeriveFact || F991 || c24 -> c688 || L672 L671
AddFact || F992 || c689 <-> (! AskPermission_3_presence) || 3720 3733
Def || L673 || c690 <-> EXISTS p_Measure_522: Measure. (p_Measure_522_presence & ((AskPermission_3_time = p_Measure_522_time) & (! EXISTS p_RobotMoving_424: RobotMoving. (p_RobotMoving_424_presence & ((p_RobotMoving_424_time <= (AskPermission_3_time + 0)) & ((AskPermission_3_time + 0) <= p_RobotMoving_424_time))))))
DeriveFact || F993 || c688 -> (c689 | c690) || F992 L673 L672
DeriveLemma || EI L673  [p_Measure_522:Measure<-t_Measure_353] || L674 || c690 -> (t_Measure_353_presence & ((AskPermission_3_time = t_Measure_353_time) & (! EXISTS p_RobotMoving_421: RobotMoving. (p_RobotMoving_421_presence & ((p_RobotMoving_421_time <= (AskPermission_3_time + 0)) & ((AskPermission_3_time + 0) <= p_RobotMoving_421_time))))))
Def || L675 || c691 <-> (t_Measure_353_presence & ((AskPermission_3_time = t_Measure_353_time) & (! EXISTS p_RobotMoving_421: RobotMoving. (p_RobotMoving_421_presence & ((p_RobotMoving_421_time <= (AskPermission_3_time + 0)) & ((AskPermission_3_time + 0) <= p_RobotMoving_421_time))))))
DeriveFact || F994 || c690 -> c691 || L675 L674
AddFact || F995 || c692 <-> t_Measure_353_presence
Def || L676 || c693 <-> ((AskPermission_3_time = t_Measure_353_time) & (! EXISTS p_RobotMoving_421: RobotMoving. (p_RobotMoving_421_presence & ((p_RobotMoving_421_time <= (AskPermission_3_time + 0)) & ((AskPermission_3_time + 0) <= p_RobotMoving_421_time)))))
DeriveFact || F996 || c691 -> (c692) || F995 L675
DeriveFact || F997 || c691 -> (c693) || L676 L675
AddFact || F998 || c694 <-> (AskPermission_3_time = t_Measure_353_time)
Def || L677 || c695 <-> (! EXISTS p_RobotMoving_421: RobotMoving. (p_RobotMoving_421_presence & ((p_RobotMoving_421_time <= (AskPermission_3_time + 0)) & ((AskPermission_3_time + 0) <= p_RobotMoving_421_time))))
DeriveFact || F999 || c693 -> (c694) || F998 L676
DeriveFact || F1000 || c693 -> (c695) || L677 L676
DeriveLemma || NNF L677 || L678 || c695 <-> Forall p_RobotMoving_422: RobotMoving. ( (! p_RobotMoving_422_presence) | (! ((p_RobotMoving_422_time <= (AskPermission_3_time + 0)) & ((AskPermission_3_time + 0) <= p_RobotMoving_422_time)))) 
Def || L679 || c696 <-> Forall p_RobotMoving_422: RobotMoving. ( (! p_RobotMoving_422_presence) | (! ((p_RobotMoving_422_time <= (AskPermission_3_time + 0)) & ((AskPermission_3_time + 0) <= p_RobotMoving_422_time))))
DeriveFact || F1001 || c695 -> c696 || L679 L678
DeriveLemma || UI L679 [p_RobotMoving_422:RobotMoving<-RobotMoving_15]  || L680 || c696 -> ((! RobotMoving_15_presence) | (! ((RobotMoving_15_time <= (AskPermission_3_time + 0)) & ((AskPermission_3_time + 0) <= RobotMoving_15_time)))) || L67
Def || L681 || c697 <-> ((! RobotMoving_15_presence) | (! ((RobotMoving_15_time <= (AskPermission_3_time + 0)) & ((AskPermission_3_time + 0) <= RobotMoving_15_time))))
DeriveFact || F1002 || c696 -> c697 || L681 L680
AddFact || F1003 || c698 <-> (! ((RobotMoving_15_time <= (AskPermission_3_time + 0)) & ((AskPermission_3_time + 0) <= RobotMoving_15_time)))
DeriveFact || F1004 || c697 -> (c56 | c698) || F67 F1003 L681
DeriveLemma || UI L679 [p_RobotMoving_422:RobotMoving<-t_RobotMoving_15]  || L682 || c696 -> ((! t_RobotMoving_15_presence) | (! ((t_RobotMoving_15_time <= (AskPermission_3_time + 0)) & ((AskPermission_3_time + 0) <= t_RobotMoving_15_time)))) || L237
Def || L683 || c699 <-> ((! t_RobotMoving_15_presence) | (! ((t_RobotMoving_15_time <= (AskPermission_3_time + 0)) & ((AskPermission_3_time + 0) <= t_RobotMoving_15_time))))
DeriveFact || F1005 || c696 -> c699 || L683 L682
AddFact || F1006 || c700 <-> (! ((t_RobotMoving_15_time <= (AskPermission_3_time + 0)) & ((AskPermission_3_time + 0) <= t_RobotMoving_15_time)))
DeriveFact || F1007 || c699 -> (c236 | c700) || F322 F1006 L683
UNSAT || F0 - F1007
Vars || t_Measure_343_obstaclePresent:Bool t_AskPermission_15_presence:Bool t_AskPermission_15_time:Int t_Measure_345_presence:Bool t_Measure_348_presence:Bool t_Measure_345_time:Int t_Measure_348_time:Int t_Measure_345_humanInRange:Bool t_Measure_348_humanInRange:Bool t_Measure_345_humanTooClose:Bool t_Measure_345_routeAvailable:Bool t_Measure_339_presence:Bool t_AdjustRoute_54_presence:Bool t_Measure_348_humanReEnables:Bool t_Measure_339_time:Int t_AdjustRoute_54_time:Int t_Measure_339_humanInRoute:Bool t_Measure_339_bumpHuman:Bool t_Measure_339_humanTooClose:Bool t_Measure_352_presence:Bool t_RobotMoving_15_presence:Bool t_Measure_351_presence:Bool t_Measure_352_time:Int t_RobotMoving_15_time:Int t_Measure_351_time:Int t_AvoidBumping_43_presence:Bool t_Measure_351_risk:Int t_RobotContinueTask_22_presence:Bool t_AvoidBumping_43_time:Int t_Measure_351_efficiency:Int t_RobotContinueTask_22_time:Int t_Measure_341_presence:Bool t_RobotStopAction_43_presence:Bool t_Measure_341_time:Int t_RobotStopAction_43_time:Int t_InquireSafety_20_presence:Bool t_IncreaseSpeed_21_presence:Bool t_InquireSafety_20_time:Int t_IncreaseSpeed_21_time:Int t_AccountHumanRandomness_20_presence:Bool t_AdjustRoute_52_presence:Bool t_Measure_346_presence:Bool t_MoveAtSafeSpeed_21_presence:Bool t_AccountHumanRandomness_20_time:Int RobotMoving_15_presence:Bool t_AdjustRoute_52_time:Int t_Measure_346_time:Int t_MoveAtSafeSpeed_21_time:Int t_AdjustRoute_53_presence:Bool AskPermission_2_time:Int InformHuman_7_presence:Bool t_AdjustRoute_53_time:Int t_AvoidBumping_40_presence:Bool t_AccountHumanRandomness_21_presence:Bool AskPermission_2_presence:Bool t_AvoidBumping_40_time:Int t_AccountHumanRandomness_21_time:Int t_AvoidBumping_42_time:Int t_Measure_349_presence:Bool Measure_37_time:Int Measure_37_presence:Bool Measure_37_humanInRoute:Bool Measure_37_humanInRange:Bool Measure_37_bumpHuman:Bool Measure_37_humanTooClose:Bool Measure_37_routeAvailable:Bool t_Measure_349_time:Int Measure_37_humanReEnables:Bool Measure_37_risk:Int t_Measure_349_humanInRange:Bool Measure_37_efficiency:Int t_Measure_353_presence:Bool t_Measure_353_time:Int t_Measure_349_humanReEnables:Bool Measure_37_isHumanTask:Bool Measure_37_humanConsents:Bool Measure_37_accident:Bool Measure_37_humansPresent:Bool Measure_37_obstaclePresent:Bool RobotMoving_15_time:Int blocked_not_RobotMoving_1_presence:Bool InformHuman_7_time:Int t_Measure_347_presence:Bool AskPermission_3_presence:Bool t_Measure_347_time:Int t_RobotContinueTask_23_presence:Bool AskPermission_3_time:Int t_RobotContinueTask_23_time:Int Measure_38_presence:Bool t_Measure_342_presence:Bool Measure_38_time:Int t_Measure_342_time:Int Measure_38_humanInRoute:Bool Measure_38_humanInRange:Bool Measure_38_bumpHuman:Bool Measure_38_humanTooClose:Bool Measure_38_routeAvailable:Bool Measure_38_humanReEnables:Bool Measure_38_risk:Int t_RobotStopAction_44_presence:Bool t_RobotStopAction_44_time:Int Measure_38_efficiency:Int Measure_38_isHumanTask:Bool Measure_38_humanConsents:Bool Measure_38_accident:Bool Measure_38_humansPresent:Bool Measure_38_obstaclePresent:Bool t_TrackHumanLocation_21_presence:Bool t_TrackHumanLocation_21_time:Int t_TrackHumanLocation_20_presence:Bool t_Measure_344_presence:Bool t_TrackHumanLocation_20_time:Int blocked_not_RobotMoving_1_time:Int blocked_not_RobotMoving_1_end:Int t_Measure_344_time:Int t_Measure_344_humanInRoute:Bool t_Measure_344_bumpHuman:Bool t_Measure_344_humanTooClose:Bool t_Measure_350_presence:Bool t_Measure_350_time:Int t_Measure_350_risk:Int t_Measure_350_efficiency:Int t_InquireSafety_21_presence:Bool t_Measure_340_presence:Bool t_InquireSafety_21_time:Int t_Measure_340_time:Int t_Measure_340_humanInRange:Bool t_AdjustRoute_55_presence:Bool t_Measure_340_humanTooClose:Bool t_Measure_340_routeAvailable:Bool t_AdjustRoute_55_time:Int t_AdjustRoute_56_presence:Bool t_IncreaseSpeed_20_presence:Bool t_Measure_343_presence:Bool t_AdjustRoute_56_time:Int t_IncreaseSpeed_20_time:Int t_Measure_343_time:Int t_Measure_343_humanInRoute:Bool t_Measure_343_humanInRange:Bool t_Measure_343_bumpHuman:Bool t_Measure_343_humanTooClose:Bool t_AvoidBumping_41_presence:Bool t_MoveAtSafeSpeed_20_presence:Bool t_Measure_343_humanReEnables:Bool t_Measure_343_risk:Int t_Measure_343_routeAvailable:Bool t_AvoidBumping_42_presence:Bool t_Measure_343_efficiency:Int t_AvoidBumping_41_time:Int t_MoveAtSafeSpeed_20_time:Int t_Measure_343_isHumanTask:Bool t_Measure_343_humanConsents:Bool t_Measure_343_accident:Bool t_Measure_343_humansPresent:Bool c0:Bool c1:Bool c2:Bool c3:Bool c4:Bool c5:Bool c6:Bool c7:Bool c8:Bool c9:Bool c10:Bool c11:Bool c12:Bool c13:Bool c14:Bool c15:Bool c16:Bool c17:Bool c18:Bool c19:Bool c20:Bool c21:Bool c22:Bool c23:Bool c24:Bool c25:Bool c26:Bool c27:Bool c28:Bool c29:Bool c30:Bool c31:Bool c32:Bool c33:Bool c34:Bool c35:Bool c36:Bool c37:Bool c38:Bool c39:Bool c40:Bool c41:Bool c42:Bool c43:Bool c44:Bool c45:Bool c46:Bool c47:Bool c48:Bool c49:Bool c50:Bool c51:Bool c52:Bool c53:Bool c54:Bool c55:Bool c56:Bool c57:Bool c58:Bool c59:Bool c60:Bool c61:Bool c62:Bool c63:Bool c64:Bool c65:Bool c66:Bool c67:Bool c68:Bool c69:Bool c70:Bool c71:Bool c72:Bool c73:Bool c74:Bool c75:Bool c76:Bool c77:Bool c78:Bool c79:Bool c80:Bool c81:Bool c82:Bool c83:Bool c84:Bool c85:Bool c86:Bool c87:Bool c88:Bool c89:Bool c90:Bool c91:Bool c92:Bool c93:Bool c94:Bool c95:Bool c96:Bool c97:Bool c98:Bool c99:Bool c100:Bool c101:Bool c102:Bool c103:Bool c104:Bool c105:Bool c106:Bool c107:Bool c108:Bool c109:Bool c110:Bool c111:Bool c112:Bool c113:Bool c114:Bool c115:Bool c116:Bool c117:Bool c118:Bool c119:Bool c120:Bool c121:Bool c122:Bool c123:Bool c124:Bool c125:Bool c126:Bool c127:Bool c128:Bool c129:Bool c130:Bool c131:Bool c132:Bool c133:Bool c134:Bool c135:Bool c136:Bool c137:Bool c138:Bool c139:Bool c140:Bool c141:Bool c142:Bool c143:Bool c144:Bool c145:Bool c146:Bool c147:Bool c148:Bool c149:Bool c150:Bool c151:Bool c152:Bool c153:Bool c154:Bool c155:Bool c156:Bool c157:Bool c158:Bool c159:Bool c160:Bool c161:Bool c162:Bool c163:Bool c164:Bool c165:Bool c166:Bool c167:Bool c168:Bool c169:Bool c170:Bool c171:Bool c172:Bool c173:Bool c174:Bool c175:Bool c176:Bool c177:Bool c178:Bool c179:Bool c180:Bool c181:Bool c182:Bool c183:Bool c184:Bool c185:Bool c186:Bool c187:Bool c188:Bool c189:Bool c190:Bool c191:Bool c192:Bool c193:Bool c194:Bool c195:Bool c196:Bool c197:Bool c198:Bool c199:Bool c200:Bool c201:Bool c202:Bool c203:Bool c204:Bool c205:Bool c206:Bool c207:Bool c208:Bool c209:Bool c210:Bool c211:Bool c212:Bool c213:Bool c214:Bool c215:Bool c216:Bool c217:Bool c218:Bool c219:Bool c220:Bool c221:Bool c222:Bool c223:Bool c224:Bool c225:Bool c226:Bool c227:Bool c228:Bool c229:Bool c230:Bool c231:Bool c232:Bool c233:Bool c234:Bool c235:Bool c236:Bool c237:Bool c238:Bool c239:Bool c240:Bool c241:Bool c242:Bool c243:Bool c244:Bool c245:Bool c246:Bool c247:Bool c248:Bool c249:Bool c250:Bool c251:Bool c252:Bool c253:Bool c254:Bool c255:Bool c256:Bool c257:Bool c258:Bool c259:Bool c260:Bool c261:Bool c262:Bool c263:Bool c264:Bool c265:Bool c266:Bool c267:Bool c268:Bool c269:Bool c270:Bool c271:Bool c272:Bool c273:Bool c274:Bool c275:Bool c276:Bool c277:Bool c278:Bool c279:Bool c280:Bool c281:Bool c282:Bool c283:Bool c284:Bool c285:Bool c286:Bool c287:Bool c288:Bool c289:Bool c290:Bool c291:Bool c292:Bool c293:Bool c294:Bool c295:Bool c296:Bool c297:Bool c298:Bool c299:Bool c300:Bool c301:Bool c302:Bool c303:Bool c304:Bool c305:Bool c306:Bool c307:Bool c308:Bool c309:Bool c310:Bool c311:Bool c312:Bool c313:Bool c314:Bool c315:Bool c316:Bool c317:Bool c318:Bool c319:Bool c320:Bool c321:Bool c322:Bool c323:Bool c324:Bool c325:Bool c326:Bool c327:Bool c328:Bool c329:Bool c330:Bool c331:Bool c332:Bool c333:Bool c334:Bool c335:Bool c336:Bool c337:Bool c338:Bool c339:Bool c340:Bool c341:Bool c342:Bool c343:Bool c344:Bool c345:Bool c346:Bool c347:Bool c348:Bool c349:Bool c350:Bool c351:Bool c352:Bool c353:Bool c354:Bool c355:Bool c356:Bool c357:Bool c358:Bool c359:Bool c360:Bool c361:Bool c362:Bool c363:Bool c364:Bool c365:Bool c366:Bool c367:Bool c368:Bool c369:Bool c370:Bool c371:Bool c372:Bool c373:Bool c374:Bool c375:Bool c376:Bool c377:Bool c378:Bool c379:Bool c380:Bool c381:Bool c382:Bool c383:Bool c384:Bool c385:Bool c386:Bool c387:Bool c388:Bool c389:Bool c390:Bool c391:Bool c392:Bool c393:Bool c394:Bool c395:Bool c396:Bool c397:Bool c398:Bool c399:Bool c400:Bool c401:Bool c402:Bool c403:Bool c404:Bool c405:Bool c406:Bool c407:Bool c408:Bool c409:Bool c410:Bool c411:Bool c412:Bool c413:Bool c414:Bool c415:Bool c416:Bool c417:Bool c418:Bool c419:Bool c420:Bool c421:Bool c422:Bool c423:Bool c424:Bool c425:Bool c426:Bool c427:Bool c428:Bool c429:Bool c430:Bool c431:Bool c432:Bool c433:Bool c434:Bool c435:Bool c436:Bool c437:Bool c438:Bool c439:Bool c440:Bool c441:Bool c442:Bool c443:Bool c444:Bool c445:Bool c446:Bool c447:Bool c448:Bool c449:Bool c450:Bool c451:Bool c452:Bool c453:Bool c454:Bool c455:Bool c456:Bool c457:Bool c458:Bool c459:Bool c460:Bool c461:Bool c462:Bool c463:Bool c464:Bool c465:Bool c466:Bool c467:Bool c468:Bool c469:Bool c470:Bool c471:Bool c472:Bool c473:Bool c474:Bool c475:Bool c476:Bool c477:Bool c478:Bool c479:Bool c480:Bool c481:Bool c482:Bool c483:Bool c484:Bool c485:Bool c486:Bool c487:Bool c488:Bool c489:Bool c490:Bool c491:Bool c492:Bool c493:Bool c494:Bool c495:Bool c496:Bool c497:Bool c498:Bool c499:Bool c500:Bool c501:Bool c502:Bool c503:Bool c504:Bool c505:Bool c506:Bool c507:Bool c508:Bool c509:Bool c510:Bool c511:Bool c512:Bool c513:Bool c514:Bool c515:Bool c516:Bool c517:Bool c518:Bool c519:Bool c520:Bool c521:Bool c522:Bool c523:Bool c524:Bool c525:Bool c526:Bool c527:Bool c528:Bool c529:Bool c530:Bool c531:Bool c532:Bool c533:Bool c534:Bool c535:Bool c536:Bool c537:Bool c538:Bool c539:Bool c540:Bool c541:Bool c542:Bool c543:Bool c544:Bool c545:Bool c546:Bool c547:Bool c548:Bool c549:Bool c550:Bool c551:Bool c552:Bool c553:Bool c554:Bool c555:Bool c556:Bool c557:Bool c558:Bool c559:Bool c560:Bool c561:Bool c562:Bool c563:Bool c564:Bool c565:Bool c566:Bool c567:Bool c568:Bool c569:Bool c570:Bool c571:Bool c572:Bool c573:Bool c574:Bool c575:Bool c576:Bool c577:Bool c578:Bool c579:Bool c580:Bool c581:Bool c582:Bool c583:Bool c584:Bool c585:Bool c586:Bool c587:Bool c588:Bool c589:Bool c590:Bool c591:Bool c592:Bool c593:Bool c594:Bool c595:Bool c596:Bool c597:Bool c598:Bool c599:Bool c600:Bool c601:Bool c602:Bool c603:Bool c604:Bool c605:Bool c606:Bool c607:Bool c608:Bool c609:Bool c610:Bool c611:Bool c612:Bool c613:Bool c614:Bool c615:Bool c616:Bool c617:Bool c618:Bool c619:Bool c620:Bool c621:Bool c622:Bool c623:Bool c624:Bool c625:Bool c626:Bool c627:Bool c628:Bool c629:Bool c630:Bool c631:Bool c632:Bool c633:Bool c634:Bool c635:Bool c636:Bool c637:Bool c638:Bool c639:Bool c640:Bool c641:Bool c642:Bool c643:Bool c644:Bool c645:Bool c646:Bool c647:Bool c648:Bool c649:Bool c650:Bool c651:Bool c652:Bool c653:Bool c654:Bool c655:Bool c656:Bool c657:Bool c658:Bool c659:Bool c660:Bool c661:Bool c662:Bool c663:Bool c664:Bool c665:Bool c666:Bool c667:Bool c668:Bool c669:Bool c670:Bool c671:Bool c672:Bool c673:Bool c674:Bool c675:Bool c676:Bool c677:Bool c678:Bool c679:Bool c680:Bool c681:Bool c682:Bool c683:Bool c684:Bool c685:Bool c686:Bool c687:Bool c688:Bool c689:Bool c690:Bool c691:Bool c692:Bool c693:Bool c694:Bool c695:Bool c696:Bool c697:Bool c698:Bool c699:Bool c700:Bool
AXIOM || (RobotMoving_15_presence -> (0 <= RobotMoving_15_time)) & (InformHuman_7_presence -> (0 <= InformHuman_7_time)) & (AskPermission_2_presence -> (0 <= AskPermission_2_time)) & (AskPermission_3_presence -> (0 <= AskPermission_3_time)) & (Measure_37_presence -> ((0 <= Measure_37_time) & True & True & True & True & True & True & ((Measure_37_risk <= 2) & (0 <= Measure_37_risk)) & ((Measure_37_efficiency <= 2) & (0 <= Measure_37_efficiency)) & True & True & True & True & True)) & (Measure_38_presence -> ((0 <= Measure_38_time) & True & True & True & True & True & True & ((Measure_38_risk <= 2) & (0 <= Measure_38_risk)) & ((Measure_38_efficiency <= 2) & (0 <= Measure_38_efficiency)) & True & True & True & True & True)) & (blocked_not_RobotMoving_1_presence -> ((0 <= blocked_not_RobotMoving_1_time) & (0 <= blocked_not_RobotMoving_1_end))) & (t_AvoidBumping_40_presence -> (0 <= t_AvoidBumping_40_time)) & (t_AdjustRoute_52_presence -> (0 <= t_AdjustRoute_52_time)) & (t_AdjustRoute_53_presence -> (0 <= t_AdjustRoute_53_time)) & (t_InquireSafety_20_presence -> (0 <= t_InquireSafety_20_time)) & (t_Measure_339_presence -> ((0 <= t_Measure_339_time) & True & True & True & True & True & True & ((t_Measure_339_risk <= 2) & (0 <= t_Measure_339_risk)) & ((t_Measure_339_efficiency <= 2) & (0 <= t_Measure_339_efficiency)) & True & True & True & True & True)) & (t_AvoidBumping_41_presence -> (0 <= t_AvoidBumping_41_time)) & (t_Measure_340_presence -> ((0 <= t_Measure_340_time) & True & True & True & True & True & True & ((t_Measure_340_risk <= 2) & (0 <= t_Measure_340_risk)) & ((t_Measure_340_efficiency <= 2) & (0 <= t_Measure_340_efficiency)) & True & True & True & True & True)) & (t_AccountHumanRandomness_20_presence -> (0 <= t_AccountHumanRandomness_20_time)) & (t_Measure_341_presence -> ((0 <= t_Measure_341_time) & True & True & True & True & True & True & ((t_Measure_341_risk <= 2) & (0 <= t_Measure_341_risk)) & ((t_Measure_341_efficiency <= 2) & (0 <= t_Measure_341_efficiency)) & True & True & True & True & True)) & (t_TrackHumanLocation_20_presence -> (0 <= t_TrackHumanLocation_20_time)) & (t_Measure_342_presence -> ((0 <= t_Measure_342_time) & True & True & True & True & True & True & ((t_Measure_342_risk <= 2) & (0 <= t_Measure_342_risk)) & ((t_Measure_342_efficiency <= 2) & (0 <= t_Measure_342_efficiency)) & True & True & True & True & True)) & (t_RobotMoving_15_presence -> (0 <= t_RobotMoving_15_time)) & (t_AdjustRoute_54_presence -> (0 <= t_AdjustRoute_54_time)) & (t_AskPermission_15_presence -> (0 <= t_AskPermission_15_time)) & (t_Measure_343_presence -> ((0 <= t_Measure_343_time) & True & True & True & True & True & True & ((t_Measure_343_risk <= 2) & (0 <= t_Measure_343_risk)) & ((t_Measure_343_efficiency <= 2) & (0 <= t_Measure_343_efficiency)) & True & True & True & True & True)) & (t_AvoidBumping_42_presence -> (0 <= t_AvoidBumping_42_time)) & (t_AvoidBumping_43_presence -> (0 <= t_AvoidBumping_43_time)) & (t_AdjustRoute_55_presence -> (0 <= t_AdjustRoute_55_time)) & (t_AdjustRoute_56_presence -> (0 <= t_AdjustRoute_56_time)) & (t_InquireSafety_21_presence -> (0 <= t_InquireSafety_21_time)) & (t_AccountHumanRandomness_21_presence -> (0 <= t_AccountHumanRandomness_21_time)) & (t_TrackHumanLocation_21_presence -> (0 <= t_TrackHumanLocation_21_time)) & (t_Measure_344_presence -> ((0 <= t_Measure_344_time) & True & True & True & True & True & True & ((t_Measure_344_risk <= 2) & (0 <= t_Measure_344_risk)) & ((t_Measure_344_efficiency <= 2) & (0 <= t_Measure_344_efficiency)) & True & True & True & True & True)) & (t_Measure_345_presence -> ((0 <= t_Measure_345_time) & True & True & True & True & True & True & ((t_Measure_345_risk <= 2) & (0 <= t_Measure_345_risk)) & ((t_Measure_345_efficiency <= 2) & (0 <= t_Measure_345_efficiency)) & True & True & True & True & True)) & (t_Measure_346_presence -> ((0 <= t_Measure_346_time) & True & True & True & True & True & True & ((t_Measure_346_risk <= 2) & (0 <= t_Measure_346_risk)) & ((t_Measure_346_efficiency <= 2) & (0 <= t_Measure_346_efficiency)) & True & True & True & True & True)) & (t_Measure_347_presence -> ((0 <= t_Measure_347_time) & True & True & True & True & True & True & ((t_Measure_347_risk <= 2) & (0 <= t_Measure_347_risk)) & ((t_Measure_347_efficiency <= 2) & (0 <= t_Measure_347_efficiency)) & True & True & True & True & True)) & (t_RobotContinueTask_22_presence -> (0 <= t_RobotContinueTask_22_time)) & (t_RobotContinueTask_23_presence -> (0 <= t_RobotContinueTask_23_time)) & (t_RobotStopAction_43_presence -> (0 <= t_RobotStopAction_43_time)) & (t_RobotStopAction_44_presence -> (0 <= t_RobotStopAction_44_time)) & (t_MoveAtSafeSpeed_20_presence -> (0 <= t_MoveAtSafeSpeed_20_time)) & (t_MoveAtSafeSpeed_21_presence -> (0 <= t_MoveAtSafeSpeed_21_time)) & (t_IncreaseSpeed_20_presence -> (0 <= t_IncreaseSpeed_20_time)) & (t_IncreaseSpeed_21_presence -> (0 <= t_IncreaseSpeed_21_time)) & (t_Measure_348_presence -> ((0 <= t_Measure_348_time) & True & True & True & True & True & True & ((t_Measure_348_risk <= 2) & (0 <= t_Measure_348_risk)) & ((t_Measure_348_efficiency <= 2) & (0 <= t_Measure_348_efficiency)) & True & True & True & True & True)) & (t_Measure_349_presence -> ((0 <= t_Measure_349_time) & True & True & True & True & True & True & ((t_Measure_349_risk <= 2) & (0 <= t_Measure_349_risk)) & ((t_Measure_349_efficiency <= 2) & (0 <= t_Measure_349_efficiency)) & True & True & True & True & True)) & (t_Measure_350_presence -> ((0 <= t_Measure_350_time) & True & True & True & True & True & True & ((t_Measure_350_risk <= 2) & (0 <= t_Measure_350_risk)) & ((t_Measure_350_efficiency <= 2) & (0 <= t_Measure_350_efficiency)) & True & True & True & True & True)) & (t_Measure_351_presence -> ((0 <= t_Measure_351_time) & True & True & True & True & True & True & ((t_Measure_351_risk <= 2) & (0 <= t_Measure_351_risk)) & ((t_Measure_351_efficiency <= 2) & (0 <= t_Measure_351_efficiency)) & True & True & True & True & True)) & (t_Measure_352_presence -> ((0 <= t_Measure_352_time) & True & True & True & True & True & True & ((t_Measure_352_risk <= 2) & (0 <= t_Measure_352_risk)) & ((t_Measure_352_efficiency <= 2) & (0 <= t_Measure_352_efficiency)) & True & True & True & True & True)) & (t_Measure_353_presence -> ((0 <= t_Measure_353_time) & True & True & True & True & True & True & ((t_Measure_353_risk <= 2) & (0 <= t_Measure_353_risk)) & ((t_Measure_353_efficiency <= 2) & (0 <= t_Measure_353_efficiency)) & True & True & True & True & True))
