(ESCORT-CONDITION-VAL-1-NEXT-STEP
 (78 9 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (51 6 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (51 3 (:DEFINITION UAV-LIST-P))
 (42 9 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (39 6 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (33 9 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (27 27 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (21 6 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (18 12 (:REWRITE DEFAULT-CDR))
 (15 9 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (10 10 (:TYPE-PRESCRIPTION EXISTS-UAV-WITH-EVENT))
 (10 2 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (6 6 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (6 6 (:REWRITE LEN-FLIP-ON-EVENTS))
 (6 6 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (6 3 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (6 3 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (6 3 (:LINEAR POSP-N))
 (5 5 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (5 5 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (4 4 (:REWRITE ESCORT-CONDITION-NECC))
 (3 3 (:TYPE-PRESCRIPTION UAV-P))
 (3 3 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (3 3 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (3 3 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (3 3 (:REWRITE DEFAULT-CAR))
 (2 2 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 )
(WF-ENSEMBLE-VAL-1-NEXT-STEP)
(DECREASING-DT
 (16791 243 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (11404 363 (:LINEAR EVENLY-SPACED-BOUNDARIES))
 (6177 5079 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (4103 1989 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (3735 617 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-RIGHT))
 (2616 872 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (2529 203 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY))
 (2508 2508 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (2309 300 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (1872 180 (:REWRITE LESS-THAN-ZERO-TO-UAV-ID-EQUIV))
 (1809 617 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-LEFT))
 (1524 168 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (1366 156 (:REWRITE COMBINE-CONSTANTS-LINEAR))
 (1002 60 (:DEFINITION UAV-LIST-P))
 (872 188 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (832 304 (:REWRITE <-C-UAV-ID-FIX-REWRITE-0))
 (814 324 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (734 368 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (706 706 (:REWRITE OPEN-UAV-LIST-FIX))
 (647 363 (:LINEAR EVENLY-SPACED-BOUNDARIES-CONSTANT))
 (528 528 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (382 382 (:REWRITE POSITIVE-SUM))
 (372 248 (:REWRITE DEFAULT-CDR))
 (364 364 (:REWRITE <-UAV-ID-FIX-N-REWRITE-1))
 (350 350 (:REWRITE HELPER-RULE))
 (323 323 (:REWRITE DEGENERATE-ZED))
 (312 188 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (284 71 (:LINEAR EVENLY-SPACED-BETWEE-PERIMETER-BOUNDARIES))
 (249 249 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (248 23 (:REWRITE OPEN-UAV-ID-P-SUM))
 (208 208 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (135 135 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (132 36 (:REWRITE O-INFP->NEQ-0))
 (124 124 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (120 120 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (120 60 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (120 60 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (99 23 (:REWRITE UAV-ID-P-PLUS-C))
 (93 93 (:META *META*-UNHIDE-HIDE))
 (90 6 (:REWRITE EQUAL-SUM-TO-UAV-ID-EQUIV))
 (88 8 (:REWRITE ADJACENT-LOCATIONS-NEVER-SMALLER-PLUS))
 (60 60 (:TYPE-PRESCRIPTION UAV-P))
 (60 60 (:REWRITE DEFAULT-CAR))
 (54 54 (:REWRITE ESCORT-CONDITION-NECC))
 (36 18 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-1))
 (30 15 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-LT-CHAINING))
 (24 8 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (23 23 (:REWRITE NOT-UAV-ID-P-N))
 (15 15 (:REWRITE NNRAT-EQUIV-OF-NNRAT-FIX))
 (15 15 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-CHAINING))
 (4 4 (:REWRITE FORCE-REWRITE-N-CONSTANT-2))
 (4 4 (:REWRITE FORCE-REWRITE-N-CONSTANT-1))
 (4 4 (:REWRITE EQUAL-DOUBLE-CONTAINMENT-2))
 (4 4 (:REWRITE EQUAL-DOUBLE-CONTAINMENT-1))
 (2 2 (:REWRITE FOLD-CONSTS-IN-+))
 (2 2 (:REWRITE <-UAV-ID-FIX-N-REWRITE-2))
 )
(FORCE-EQUAL-DT-REWRITE-2
 (85 85 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (12 3 (:REWRITE NNRAT-FIX-NNRAT-P))
 (3 3 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (3 1 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (2 2 (:TYPE-PRESCRIPTION BOOLEANP))
 )
(FLIP-UAV-UPDATE-LOCATION-ALL-HELPER
 (8567 8567 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (2834 327 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (2534 2534 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (1853 109 (:DEFINITION UAV-LIST-P))
 (1732 302 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (1316 658 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (981 981 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (875 578 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (700 700 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (700 700 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (700 700 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (596 49 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLIES-LT-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (436 109 (:LINEAR POSITIVE-MIN-TIME-TO-IMPACT-FOR-UAV))
 (420 308 (:REWRITE DEFAULT-CDR))
 (410 410 (:REWRITE UAV-ID-P-CONSTANT))
 (350 70 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (343 98 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-LT-CHAINING))
 (332 119 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (297 185 (:REWRITE DEFAULT-CAR))
 (290 290 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (270 54 (:REWRITE UPDATE-LOCATION-ALL-ZERO))
 (266 266 (:REWRITE RIGHT-PERIMETER-PINCHING))
 (246 123 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (246 123 (:LINEAR POSP-N))
 (240 80 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (220 220 (:REWRITE UAV-ID-FIX-CONSTANT))
 (218 218 (:TYPE-PRESCRIPTION EXISTS-UAV-WITH-EVENT))
 (218 218 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (218 109 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (218 109 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (208 208 (:META *META*-UNHIDE-HIDE))
 (125 25 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-2))
 (123 123 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (123 123 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (123 123 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (109 109 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (109 109 (:REWRITE ESCORT-CONDITION-NECC))
 (98 98 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-CHAINING))
 (68 68 (:REWRITE-QUOTED-CONSTANT RFIX-UNDER-RATIONAL-EQUIV))
 (68 68 (:REWRITE-QUOTED-CONSTANT IFIX-UNDER-INT-EQUIV))
 (68 68 (:REWRITE-QUOTED-CONSTANT FIX-UNDER-NUMBER-EQUIV))
 (50 25 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-1))
 (49 49 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-NECC))
 (48 48 (:REWRITE OPEN-UAV-LIST-FIX))
 (48 16 (:REWRITE NOT-EVENT-FOR-UAV-FROM-NOT-IMPENDING-IMPACT-EVENT))
 (48 16 (:REWRITE EVENT-FOR-UAV-FROM-IMPENDING-EVENT))
 (40 8 (:REWRITE POSITIVE-TO-ONE))
 (32 32 (:TYPE-PRESCRIPTION BOOLEANP))
 (16 16 (:REWRITE UAV-ID-EQUIV-TO-DOUBLE-CONTAINMENT))
 )
(FLIP-UAV-UPDATE-LOCATION-ALL)
(POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT
 (26 3 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (17 1 (:DEFINITION UAV-LIST-P))
 (11 3 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (9 9 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (6 1 (:REWRITE LESS-THAN-LEAST-IMPLIES-LESS-THAN-ANY))
 (6 1 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (5 1 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (3 1 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (2 2 (:TYPE-PRESCRIPTION IMPENDING-IMPACT-EVENT-FOR-UAV))
 (2 2 (:TYPE-PRESCRIPTION IMPACT-EVENT-FOR-UAV))
 (2 2 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (2 2 (:REWRITE DEFAULT-CDR))
 (2 1 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (2 1 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (2 1 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (2 1 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (2 1 (:LINEAR POSP-N))
 (1 1 (:TYPE-PRESCRIPTION UAV-P))
 (1 1 (:TYPE-PRESCRIPTION UAV-ID-P))
 (1 1 (:TYPE-PRESCRIPTION SMALLEST-IMPENDING-DT-INDEX))
 (1 1 (:REWRITE T-IMPLIES-UAV-ID-P-SMALLEST-IMPENDING-DT-INDEX))
 (1 1 (:REWRITE OPEN-UAV-LIST-FIX))
 (1 1 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (1 1 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (1 1 (:REWRITE ESCORT-CONDITION-NECC))
 (1 1 (:REWRITE DEFAULT-CAR))
 (1 1 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (1 1 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 )
(EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV)
(EVENT-FOR-UAV-IMPLIES-IMPENDING-EVENT-FOR-UAV)
(EVENT-FOR-UAV-UPDATE-LOCATION-ALL-HELPER
 (472 8 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (458 8 (:REWRITE EVENT-FOR-UAV-IMPLIES-IMPENDING-EVENT-FOR-UAV))
 (432 432 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (240 24 (:REWRITE POSITIVE-TO-ONE))
 (240 24 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (194 14 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (194 14 (:REWRITE EVENT-FOR-UAV-N))
 (194 14 (:REWRITE EVENT-FOR-UAV-LEFT))
 (194 14 (:REWRITE EVENT-FOR-UAV-0))
 (158 2 (:REWRITE EVENT-FOR-UAV-FROM-IMPENDING-EVENT))
 (152 152 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (128 68 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (110 14 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (96 48 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (48 48 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (48 8 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (40 12 (:REWRITE NNRAT-FIX-NNRAT-P))
 (26 3 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (24 24 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (24 24 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (24 2 (:REWRITE LTE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IMPLIES-LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT))
 (17 1 (:DEFINITION UAV-LIST-P))
 (16 16 (:TYPE-PRESCRIPTION UAV-ID-P))
 (16 16 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (12 12 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (12 1 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLIES-LT-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (11 3 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (10 2 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (10 2 (:REWRITE UPDATE-LOCATION-ALL-ZERO))
 (9 9 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (8 8 (:REWRITE UAV-ID-P-CONSTANT))
 (8 8 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (8 3 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (7 7 (:TYPE-PRESCRIPTION IMPENDING-IMPACT-EVENT-FOR-UAV))
 (7 2 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-LT-CHAINING))
 (6 2 (:REWRITE NOT-EVENT-FOR-UAV-FROM-NOT-IMPENDING-IMPACT-EVENT))
 (6 1 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (6 1 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST))
 (5 5 (:TYPE-PRESCRIPTION IMPACT-EVENT-FOR-UAV))
 (5 1 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-2))
 (4 4 (:TYPE-PRESCRIPTION EXISTS-UAV-WITH-EVENT))
 (4 1 (:LINEAR POSITIVE-MIN-TIME-TO-IMPACT-FOR-UAV))
 (4 1 (:LINEAR POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (2 2 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (2 2 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (2 2 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (2 2 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (2 2 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-CHAINING))
 (2 2 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (2 2 (:REWRITE DEFAULT-CDR))
 (2 1 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (2 1 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (2 1 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-1))
 (2 1 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (2 1 (:LINEAR POSP-N))
 (1 1 (:TYPE-PRESCRIPTION UAV-P))
 (1 1 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-NECC))
 (1 1 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (1 1 (:REWRITE ESCORT-CONDITION-NECC))
 (1 1 (:REWRITE DEFAULT-CAR))
 (1 1 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (1 1 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 )
(EVENT-FOR-UAV-UPDATE-LOCATION-ALL-LTE
 (472 8 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (396 396 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (390 8 (:REWRITE EVENT-FOR-UAV-IMPLIES-IMPENDING-EVENT-FOR-UAV))
 (220 22 (:REWRITE POSITIVE-TO-ONE))
 (220 22 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (179 14 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (179 14 (:REWRITE EVENT-FOR-UAV-N))
 (179 14 (:REWRITE EVENT-FOR-UAV-LEFT))
 (179 14 (:REWRITE EVENT-FOR-UAV-0))
 (145 145 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (118 63 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (102 14 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (90 2 (:REWRITE EVENT-FOR-UAV-FROM-IMPENDING-EVENT))
 (88 44 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (48 8 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (44 44 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (38 12 (:REWRITE NNRAT-FIX-NNRAT-P))
 (22 22 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (22 22 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (17 1 (:DEFINITION UAV-LIST-P))
 (16 16 (:TYPE-PRESCRIPTION UAV-ID-P))
 (16 16 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (12 1 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLIES-LT-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (11 11 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (11 3 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (9 9 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (9 2 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (9 2 (:REWRITE UPDATE-LOCATION-ALL-ZERO))
 (8 8 (:REWRITE UAV-ID-P-CONSTANT))
 (8 8 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (8 3 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (7 7 (:TYPE-PRESCRIPTION IMPENDING-IMPACT-EVENT-FOR-UAV))
 (7 2 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-LT-CHAINING))
 (6 2 (:REWRITE NOT-EVENT-FOR-UAV-FROM-NOT-IMPENDING-IMPACT-EVENT))
 (6 1 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (6 1 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST))
 (5 5 (:TYPE-PRESCRIPTION IMPACT-EVENT-FOR-UAV))
 (5 1 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-2))
 (4 4 (:TYPE-PRESCRIPTION EXISTS-UAV-WITH-EVENT))
 (4 1 (:LINEAR POSITIVE-MIN-TIME-TO-IMPACT-FOR-UAV))
 (4 1 (:LINEAR POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (2 2 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (2 2 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (2 2 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (2 2 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (2 2 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-CHAINING))
 (2 2 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (2 2 (:REWRITE ESCORT-CONDITION-NECC))
 (2 2 (:REWRITE DEFAULT-CDR))
 (2 1 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (2 1 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (2 1 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-CHASING-NEIGHBOR))
 (2 1 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-1))
 (2 1 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (2 1 (:LINEAR POSP-N))
 (1 1 (:TYPE-PRESCRIPTION UAV-P))
 (1 1 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-NECC))
 (1 1 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (1 1 (:REWRITE DEFAULT-CAR))
 (1 1 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (1 1 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 )
(IMPLIES-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV
 (41 3 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (28 2 (:DEFINITION UAV-LIST-P))
 (27 2 (:REWRITE EVENT-FOR-UAV-IMPLIES-IMPENDING-EVENT-FOR-UAV))
 (23 1 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (14 14 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (8 4 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (4 4 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (4 2 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (4 2 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (2 2 (:TYPE-PRESCRIPTION UAV-P))
 (2 2 (:REWRITE DEFAULT-CDR))
 (2 2 (:REWRITE DEFAULT-CAR))
 )
(UPDATE-UAV-LOCATION-ZERO
 (89 1 (:REWRITE UAV-LOCATION-FIX-UAV-LOCATION-P))
 (86 1 (:DEFINITION UAV-LOCATION-P))
 (70 70 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (12 12 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (12 12 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (12 12 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (12 6 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (8 2 (:REWRITE NNRAT-FIX-NNRAT-P))
 (4 2 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (4 2 (:REWRITE DEFAULT-CDR))
 (4 2 (:REWRITE DEFAULT-CAR))
 (2 2 (:TYPE-PRESCRIPTION UAV-P))
 (2 2 (:REWRITE O-INFP->NEQ-0))
 (2 2 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (2 1 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (1 1 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (1 1 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (1 1 (:REWRITE UAV-ID-FIX-CONSTANT))
 (1 1 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (1 1 (:META *META*-UNHIDE-HIDE))
 )
(FLIP-UAV-NEXT-STEP
 (1362 19 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (1008 1008 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (822 14 (:REWRITE EVENT-FOR-UAV-IMPLIES-IMPENDING-EVENT-FOR-UAV))
 (560 56 (:REWRITE POSITIVE-TO-ONE))
 (560 56 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (513 7 (:REWRITE IMPENDING-EVENT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (470 29 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (470 29 (:REWRITE EVENT-FOR-UAV-N))
 (470 29 (:REWRITE EVENT-FOR-UAV-LEFT))
 (470 29 (:REWRITE EVENT-FOR-UAV-0))
 (293 152 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (268 134 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (213 29 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (171 23 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (133 19 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY))
 (119 14 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (114 19 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY-TOO))
 (114 19 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (112 112 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (102 6 (:DEFINITION UAV-LIST-P))
 (100 40 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (98 21 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (97 24 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (94 44 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (91 14 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (77 44 (:REWRITE DEFAULT-CDR))
 (57 19 (:REWRITE MIN-TIME-TO-IMPACT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (57 19 (:REWRITE IMPLIES-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (56 56 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (56 56 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (53 53 (:TYPE-PRESCRIPTION UAV-ID-P))
 (53 53 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (42 23 (:REWRITE DEFAULT-CAR))
 (37 10 (:REWRITE UPDATE-UAV-LOCATION-ZERO))
 (35 21 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (32 17 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (30 10 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (30 5 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (24 24 (:REWRITE UAV-ID-P-CONSTANT))
 (23 23 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (20 20 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (18 3 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (15 5 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (14 14 (:REWRITE LEN-FLIP-ON-EVENTS))
 (14 14 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (14 14 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (14 7 (:LINEAR POSP-N))
 (11 11 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (11 11 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (11 11 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (9 3 (:REWRITE POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (6 6 (:REWRITE ESCORT-CONDITION-NECC))
 (5 5 (:REWRITE UAV-ID-FIX-CONSTANT))
 )
(INDUCTIVE-CASE
 (5049 285 (:LINEAR LINEAR-BOUNDS-ON-UAV-ID-FIX))
 (4495 64 (:DEFINITION =))
 (3697 118 (:REWRITE EVENT-FOR-UAV-N))
 (3283 118 (:REWRITE EVENT-FOR-UAV-0))
 (2828 118 (:REWRITE EVENT-FOR-UAV-LEFT))
 (2784 333 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (2595 118 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (2198 1099 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (1819 214 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (1785 105 (:DEFINITION UAV-LIST-P))
 (1498 321 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (1391 214 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (1296 432 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (1265 335 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (1261 542 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (1239 1239 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (1062 118 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (1032 172 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (1018 893 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (918 118 (:REWRITE POSITIVE-TO-ONE))
 (893 893 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (893 893 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (880 288 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (682 446 (:REWRITE DEFAULT-CDR))
 (625 625 (:REWRITE UAV-ID-P-CONSTANT))
 (535 321 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (529 529 (:REWRITE UAV-ID-FIX-CONSTANT))
 (431 172 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (425 85 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-2))
 (408 107 (:LINEAR POSITIVE-MIN-TIME-TO-IMPACT-FOR-UAV))
 (325 325 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (282 228 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (261 29 (:REWRITE EQUAL-SUM-TO-UAV-ID-EQUIV))
 (252 52 (:REWRITE DEFUNG::NATP-FIX))
 (214 214 (:REWRITE LEN-FLIP-ON-EVENTS))
 (214 214 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (214 107 (:LINEAR POSP-N))
 (191 191 (:REWRITE RIGHT-PERIMETER-PINCHING))
 (170 85 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-1))
 (150 80 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-RIGHT))
 (150 50 (:DEFINITION NATP))
 (147 147 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (147 125 (:REWRITE DEFAULT-CAR))
 (143 143 (:REWRITE FOLD-CONSTS-IN-+))
 (143 143 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (117 18 (:REWRITE UPDATE-UAV-LOCATION-ZERO))
 (111 111 (:META *META*-UNHIDE-HIDE))
 (110 80 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-LEFT))
 (105 105 (:REWRITE ESCORT-CONDITION-NECC))
 (90 36 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (64 64 (:REWRITE HELPER-RULE))
 (50 50 (:TYPE-PRESCRIPTION NATP))
 (50 50 (:REWRITE-QUOTED-CONSTANT RFIX-UNDER-RATIONAL-EQUIV))
 (50 50 (:REWRITE-QUOTED-CONSTANT IFIX-UNDER-INT-EQUIV))
 (50 50 (:REWRITE-QUOTED-CONSTANT FIX-UNDER-NUMBER-EQUIV))
 (35 35 (:REWRITE <-C-UAV-ID-FIX-REWRITE-0))
 (29 29 (:REWRITE PLUS-EQUAL-N-TO-EQUIV-N-MINUS-1))
 (29 29 (:REWRITE <-UAV-ID-FIX-N-REWRITE-1))
 (27 9 (:REWRITE POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (22 22 (:TYPE-PRESCRIPTION BOOLEANP))
 (17 17 (:REWRITE UAV-ID-EQUIV-TO-DOUBLE-CONTAINMENT))
 )
(ITH-UAV-VAL-1-NEXT-STEP
 (131 131 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (84 11 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (51 6 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (51 3 (:DEFINITION UAV-LIST-P))
 (45 11 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (42 9 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (39 6 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (34 20 (:REWRITE DEFAULT-CDR))
 (28 5 (:REWRITE UPDATE-UAV-LOCATION-ZERO))
 (25 10 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (19 11 (:REWRITE DEFAULT-CAR))
 (15 9 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (14 8 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (14 7 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (12 2 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (10 2 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (8 5 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (7 7 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (7 7 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (7 7 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (6 6 (:TYPE-PRESCRIPTION UAV-ID-P))
 (6 6 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (6 6 (:REWRITE LEN-FLIP-ON-EVENTS))
 (6 6 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (6 6 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (6 3 (:LINEAR POSP-N))
 (6 2 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (5 5 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (3 1 (:REWRITE POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (2 2 (:REWRITE UAV-ID-P-CONSTANT))
 (2 2 (:REWRITE UAV-ID-FIX-CONSTANT))
 )
(VAL-0-NEXT-STEP
 (1613 8 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (1377 171 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (1338 51 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (1095 15 (:DEFINITION LEN))
 (1010 10 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (942 63 (:DEFINITION UAV-LIST-P))
 (741 78 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (471 471 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (186 63 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (141 141 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (141 141 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (108 108 (:REWRITE DEFAULT-CDR))
 (90 3 (:LINEAR POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (69 3 (:REWRITE FLIP-ON-EVENTS-INVARIANTS))
 (63 63 (:TYPE-PRESCRIPTION UAV-P))
 (63 63 (:REWRITE DEFAULT-CAR))
 (60 30 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (45 45 (:TYPE-PRESCRIPTION LEN))
 (30 30 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (30 30 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (28 13 (:REWRITE NNRAT-FIX-NNRAT-P))
 (15 8 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (12 3 (:REWRITE WF-ENSEMBLE-IMPLIES-ESCORT-CONDITION-FLIP-ON-EVENTS))
 (10 10 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (10 10 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (10 5 (:LINEAR POSP-N))
 (10 2 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (6 6 (:TYPE-PRESCRIPTION ESCORT-CONDITION))
 (5 5 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (5 5 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (4 4 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (4 4 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (4 4 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (2 2 (:TYPE-PRESCRIPTION BOOLEANP))
 )
(MIN-TIME-TO-IMPACT-FOR-UAV-NEXT-STEP
 (1642 36 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (756 4 (:REWRITE EVENT-FOR-UAV-UPDATE-LOCATION-ALL-LTE))
 (648 648 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (450 8 (:REWRITE EVENT-FOR-UAV-IMPLIES-IMPENDING-EVENT-FOR-UAV))
 (360 36 (:REWRITE POSITIVE-TO-ONE))
 (360 36 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (302 18 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (302 18 (:REWRITE EVENT-FOR-UAV-N))
 (302 18 (:REWRITE EVENT-FOR-UAV-LEFT))
 (302 18 (:REWRITE EVENT-FOR-UAV-0))
 (300 4 (:REWRITE IMPENDING-EVENT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (235 61 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (230 20 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (186 97 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (155 10 (:DEFINITION UAV-LIST-P))
 (152 32 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (146 18 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (144 72 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (134 26 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY))
 (116 26 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY-TOO))
 (108 27 (:REWRITE IMPLIES-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (85 10 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (80 80 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (75 25 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (72 72 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (70 15 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (69 24 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (65 10 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (62 26 (:REWRITE MIN-TIME-TO-IMPACT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (56 56 (:REWRITE ITH-UAV-FLIP-ON-EVENTS))
 (52 10 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (48 48 (:TYPE-PRESCRIPTION UAV-ID-P))
 (48 48 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (36 36 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (36 36 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (35 25 (:REWRITE DEFAULT-CDR))
 (27 9 (:REWRITE IMPENDING-ESCORT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (25 15 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (24 24 (:REWRITE UAV-ID-P-CONSTANT))
 (20 20 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (20 20 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (20 10 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (20 10 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (20 4 (:REWRITE WF-ENSEMBLE-UPDATE-LOCATION-ALL))
 (20 4 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (20 4 (:REWRITE UPDATE-LOCATION-ALL-ESCORT-CONDITION))
 (16 16 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (10 10 (:TYPE-PRESCRIPTION UAV-P))
 (10 10 (:REWRITE LEN-FLIP-ON-EVENTS))
 (10 10 (:REWRITE DEFAULT-CAR))
 (10 10 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (10 10 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (10 5 (:LINEAR POSP-N))
 (6 6 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (6 6 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (6 6 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (5 5 (:REWRITE ESCORT-CONDITION-NECC))
 )
(FLIP-ON-EVENTS-IS-CLOSER-TO-EVENT
 (3960 1320 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (2499 258 (:REWRITE LESS-THAN-ZERO-TO-UAV-ID-EQUIV))
 (2287 61 (:LINEAR RIGHT-BOUNDARY-IS-ORDERED-LINEAR . 2))
 (2287 61 (:LINEAR RIGHT-BOUNDARY-IS-ORDERED-LINEAR . 1))
 (2178 61 (:LINEAR EVENLY-SPACED-BOUNDARIES))
 (1948 230 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (1686 1686 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (1634 176 (:REWRITE <-C-UAV-ID-FIX-REWRITE-0))
 (1378 687 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (1258 74 (:DEFINITION UAV-LIST-P))
 (1059 213 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-RIGHT))
 (1040 252 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (899 213 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-LEFT))
 (697 131 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (648 45 (:REWRITE COMBINE-CONSTANTS-LINEAR))
 (476 334 (:REWRITE DEFAULT-CDR))
 (447 27 (:REWRITE ADJACENT-LOCATIONS-NEVER-SMALLER-PLUS))
 (386 252 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (309 34 (:REWRITE EQUAL-SUM-TO-UAV-ID-EQUIV))
 (291 291 (:REWRITE HELPER-RULE))
 (183 183 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (180 156 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (144 42 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (121 121 (:META *META*-UNHIDE-HIDE))
 (103 103 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (93 61 (:LINEAR EVENLY-SPACED-BOUNDARIES-CONSTANT))
 (90 82 (:REWRITE DEFAULT-CAR))
 (68 68 (:TYPE-PRESCRIPTION EXISTS-UAV-WITH-EVENT))
 (56 14 (:REWRITE O-INFP->NEQ-0))
 (42 42 (:REWRITE <-UAV-ID-FIX-N-REWRITE-2))
 (40 8 (:REWRITE OPEN-UAV-ID-P-SUM))
 (36 6 (:REWRITE DEGENERATE-EQUAL-N-TO-UAV-ID-EQUIV))
 (34 34 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (32 8 (:REWRITE UAV-ID-P-PLUS-C))
 (32 8 (:LINEAR EVENLY-SPACED-BETWEE-PERIMETER-BOUNDARIES))
 (26 26 (:REWRITE DEGENERATE-ZED))
 (11 11 (:REWRITE PLUS-EQUAL-N-TO-EQUIV-N-MINUS-1))
 (9 9 (:REWRITE UAV-ID-P-1))
 (8 8 (:REWRITE NOT-UAV-ID-P-N))
 )
(ZP-MIN-TIME-TO-IMPACT-EVENT-WHEN-IMPACT-EVENT-REWRITE
 (228 3 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (108 108 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (60 6 (:REWRITE POSITIVE-TO-ONE))
 (60 6 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (48 3 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (48 3 (:REWRITE EVENT-FOR-UAV-N))
 (48 3 (:REWRITE EVENT-FOR-UAV-LEFT))
 (48 3 (:REWRITE EVENT-FOR-UAV-0))
 (30 15 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (27 3 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (26 3 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (24 12 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (18 3 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (17 1 (:DEFINITION UAV-LIST-P))
 (12 12 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (11 3 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (9 9 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (6 6 (:TYPE-PRESCRIPTION UAV-ID-P))
 (6 6 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (6 6 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (6 6 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (6 1 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (4 1 (:LINEAR POSITIVE-MIN-TIME-TO-IMPACT-FOR-UAV))
 (3 3 (:REWRITE UAV-ID-P-CONSTANT))
 (3 3 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (2 2 (:TYPE-PRESCRIPTION EXISTS-UAV-WITH-EVENT))
 (2 2 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (2 2 (:REWRITE DEFAULT-CDR))
 (2 1 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (2 1 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (2 1 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (2 1 (:LINEAR POSP-N))
 (1 1 (:TYPE-PRESCRIPTION UAV-P))
 (1 1 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (1 1 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (1 1 (:REWRITE ESCORT-CONDITION-NECC))
 (1 1 (:REWRITE DEFAULT-CAR))
 (1 1 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (1 1 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 )
(UPDATE-LOCATION-UPDATE-LOCATION
 (539 539 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (178 178 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (178 178 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (178 178 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (93 56 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (91 12 (:REWRITE DEFUNG::NATP-FIX))
 (59 12 (:DEFINITION NATP))
 (52 26 (:LINEAR POSP-N))
 (46 23 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (38 38 (:META *META*-UNHIDE-HIDE))
 (30 30 (:REWRITE FOLD-CONSTS-IN-+))
 (30 30 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (26 26 (:REWRITE-QUOTED-CONSTANT RFIX-UNDER-RATIONAL-EQUIV))
 (26 26 (:REWRITE-QUOTED-CONSTANT IFIX-UNDER-INT-EQUIV))
 (26 26 (:REWRITE-QUOTED-CONSTANT FIX-UNDER-NUMBER-EQUIV))
 (23 23 (:REWRITE UAV-ID-FIX-CONSTANT))
 (18 18 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (12 12 (:TYPE-PRESCRIPTION NATP))
 (10 10 (:TYPE-PRESCRIPTION BOOLEANP))
 (5 2 (:REWRITE DEFAULT-CDR))
 (5 2 (:REWRITE DEFAULT-CAR))
 (2 2 (:REWRITE O-INFP->NEQ-0))
 )
(FLIP-ON-EVENTS-IS-CLOSER-TO-EVENT-LINEAR
 (246 5 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (108 108 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (60 6 (:REWRITE POSITIVE-TO-ONE))
 (60 6 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (51 3 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (51 3 (:REWRITE EVENT-FOR-UAV-N))
 (51 3 (:REWRITE EVENT-FOR-UAV-LEFT))
 (51 3 (:REWRITE EVENT-FOR-UAV-0))
 (30 15 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (27 3 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (26 3 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (25 5 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (24 12 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (17 2 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (17 1 (:DEFINITION UAV-LIST-P))
 (15 2 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST))
 (14 3 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (13 2 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (12 12 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (12 12 (:REWRITE ITH-UAV-FLIP-ON-EVENTS))
 (11 3 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (9 9 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (9 3 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY-TOO))
 (9 3 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY))
 (9 3 (:REWRITE MIN-TIME-TO-IMPACT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (8 8 (:TYPE-PRESCRIPTION UAV-ID-P))
 (8 8 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (6 6 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (6 6 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (6 4 (:REWRITE DEFAULT-CDR))
 (6 2 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (5 3 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (4 4 (:TYPE-PRESCRIPTION IMPENDING-IMPACT-EVENT-FOR-UAV))
 (4 4 (:REWRITE UAV-ID-P-CONSTANT))
 (4 1 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (3 3 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (3 1 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (2 2 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (2 2 (:REWRITE LEN-FLIP-ON-EVENTS))
 (2 2 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (2 2 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (2 1 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (2 1 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (2 1 (:LINEAR POSP-N))
 (1 1 (:TYPE-PRESCRIPTION UAV-P))
 (1 1 (:REWRITE DEFAULT-CAR))
 )
(ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER
 (6 1 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (3 1 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (3 1 (:LINEAR POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (2 2 (:TYPE-PRESCRIPTION UAV-ID-P))
 (2 2 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (1 1 (:REWRITE UAV-ID-P-CONSTANT))
 )
(ITH-UAV-STEP-TIME-UPDATE-LOCATION-ALL
 (54069 291 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (27488 51 (:DEFINITION STEP-TIME-DEFINITION))
 (14113 230 (:REWRITE EVENT-FOR-UAV-0))
 (13906 230 (:REWRITE EVENT-FOR-UAV-N))
 (13252 230 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (13252 230 (:REWRITE EVENT-FOR-UAV-LEFT))
 (11273 219 (:REWRITE DEFUNG::NATP-FIX))
 (10715 10715 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (10552 460 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (10389 217 (:DEFINITION NATP))
 (10342 460 (:REWRITE POSITIVE-TO-ONE))
 (6273 26 (:REWRITE EVENT-FOR-UAV-IMPLIES-IMPENDING-EVENT-FOR-UAV))
 (6005 1672 (:REWRITE |(< (- x) c)|))
 (5010 230 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (3373 76 (:REWRITE UPDATE-UAV-LOCATION-ZERO))
 (2872 13 (:REWRITE IMPENDING-EVENT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (2705 1674 (:REWRITE DEFAULT-LESS-THAN-2))
 (2439 1231 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (2418 1557 (:REWRITE SIMPLIFY-PRODUCTS-GATHER-EXPONENTS-<))
 (2243 1674 (:REWRITE DEFAULT-LESS-THAN-1))
 (2085 725 (:REWRITE INTEGERP-MINUS-X))
 (1946 973 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (1733 1235 (:REWRITE SIMPLIFY-PRODUCTS-GATHER-EXPONENTS-EQUAL))
 (1674 1674 (:REWRITE THE-FLOOR-BELOW))
 (1674 1674 (:REWRITE THE-FLOOR-ABOVE))
 (1672 1672 (:REWRITE REDUCE-RATIONAL-MULTIPLICATIVE-CONSTANT-<))
 (1672 1672 (:REWRITE REDUCE-MULTIPLICATIVE-CONSTANT-<))
 (1672 1672 (:REWRITE REDUCE-ADDITIVE-CONSTANT-<))
 (1672 1672 (:REWRITE |(< c (/ x)) positive c --- present in goal|))
 (1672 1672 (:REWRITE |(< c (/ x)) positive c --- obj t or nil|))
 (1672 1672 (:REWRITE |(< c (/ x)) negative c --- present in goal|))
 (1672 1672 (:REWRITE |(< c (/ x)) negative c --- obj t or nil|))
 (1672 1672 (:REWRITE |(< c (- x))|))
 (1672 1672 (:REWRITE |(< (/ x) c) positive c --- present in goal|))
 (1672 1672 (:REWRITE |(< (/ x) c) positive c --- obj t or nil|))
 (1672 1672 (:REWRITE |(< (/ x) c) negative c --- present in goal|))
 (1672 1672 (:REWRITE |(< (/ x) c) negative c --- obj t or nil|))
 (1672 1672 (:REWRITE |(< (/ x) (/ y))|))
 (1672 1672 (:REWRITE |(< (- x) (- y))|))
 (1561 1561 (:REWRITE INTEGERP-<-CONSTANT))
 (1561 1561 (:REWRITE CONSTANT-<-INTEGERP))
 (1466 973 (:REWRITE DEFAULT-PLUS-1))
 (1445 270 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (1306 1231 (:REWRITE SIMPLIFY-SUMS-EQUAL))
 (1235 1235 (:REWRITE REDUCE-MULTIPLICATIVE-CONSTANT-EQUAL))
 (1235 1235 (:REWRITE REDUCE-ADDITIVE-CONSTANT-EQUAL))
 (1235 1235 (:REWRITE EQUAL-OF-PREDICATES-REWRITE))
 (1235 1235 (:REWRITE |(equal c (/ x))|))
 (1235 1235 (:REWRITE |(equal c (- x))|))
 (1235 1235 (:REWRITE |(equal (/ x) c)|))
 (1235 1235 (:REWRITE |(equal (/ x) (/ y))|))
 (1235 1235 (:REWRITE |(equal (- x) c)|))
 (1235 1235 (:REWRITE |(equal (- x) (- y))|))
 (1144 132 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (1120 280 (:REWRITE RATIONALP-X))
 (1090 222 (:REWRITE |(- (* c x))|))
 (1026 186 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY))
 (920 920 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (887 413 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (869 509 (:REWRITE DEFAULT-TIMES-2))
 (848 186 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY-TOO))
 (820 82 (:REWRITE ACL2-NUMBERP-X))
 (808 808 (:REWRITE |(< 0 (/ x))|))
 (808 808 (:REWRITE |(< 0 (* x y))|))
 (799 799 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-0-<-AX+BX-RATIONAL-REMAINDER))
 (799 799 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-0-<-AX+BX-RATIONAL-COMMON))
 (794 299 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (748 44 (:DEFINITION UAV-LIST-P))
 (724 202 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (700 31 (:LINEAR FLIP-ON-EVENTS-IS-CLOSER-TO-EVENT-LINEAR))
 (694 694 (:REWRITE |(< (/ x) 0)|))
 (694 694 (:REWRITE |(< (* x y) 0)|))
 (654 484 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (616 616 (:REWRITE REDUCE-INTEGERP-+))
 (616 616 (:META META-INTEGERP-CORRECT))
 (568 568 (:REWRITE ITH-UAV-FLIP-ON-EVENTS))
 (563 364 (:REWRITE DEFAULT-CDR))
 (540 160 (:REWRITE IMPLIES-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (509 509 (:REWRITE DEFAULT-TIMES-1))
 (487 487 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-<-0-RATIONAL-REMAINDER))
 (487 487 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-<-0-RATIONAL-COMMON))
 (484 484 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (484 484 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (470 470 (:TYPE-PRESCRIPTION UAV-ID-P))
 (470 470 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (460 460 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (460 460 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (445 267 (:REWRITE DEFAULT-MINUS))
 (303 51 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-2))
 (282 202 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (281 162 (:REWRITE DEFAULT-CAR))
 (280 280 (:REWRITE REDUCE-RATIONALP-+))
 (280 280 (:REWRITE REDUCE-RATIONALP-*))
 (280 280 (:REWRITE RATIONALP-MINUS-X))
 (280 280 (:META META-RATIONALP-CORRECT))
 (255 255 (:REWRITE OPEN-UAV-LIST-FIX))
 (235 235 (:REWRITE UAV-ID-P-CONSTANT))
 (218 218 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (217 217 (:TYPE-PRESCRIPTION NATP))
 (212 212 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (204 111 (:TYPE-PRESCRIPTION BUBBLE-DOWN))
 (197 197 (:REWRITE NORMALIZE-TERMS-SUCH-AS-A/A+B-+-B/A+B))
 (171 171 (:REWRITE NORMALIZE-FACTORS-GATHER-EXPONENTS))
 (171 171 (:REWRITE |(* (- x) y)|))
 (162 162 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (148 27 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (132 132 (:REWRITE |(< (* x y) 0) rationalp (* x y)|))
 (107 107 (:REWRITE |(< (+ c/d x) y)|))
 (107 107 (:REWRITE |(< (+ (- c) x) y)|))
 (90 4 (:REWRITE |(- (+ x y))|))
 (88 88 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (88 44 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (88 44 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (88 44 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-1))
 (86 43 (:LINEAR POSP-N))
 (60 20 (:REWRITE IMPENDING-ESCORT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (51 36 (:REWRITE LESS-THAN-LEAST-IMPLIES-LESS-THAN-ANY))
 (51 10 (:REWRITE LTE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IMPLIES-LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT))
 (50 2 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLIES-LT-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (45 45 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (44 44 (:TYPE-PRESCRIPTION UAV-P))
 (44 44 (:REWRITE ESCORT-CONDITION-NECC))
 (36 36 (:REWRITE T-IMPLIES-NNRAT-P-NNRAT-FIX))
 (36 12 (:REWRITE POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (30 10 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-LT-CHAINING))
 (22 2 (:REWRITE BUBBLE-DOWN-+-MATCH-3))
 (19 19 (:REWRITE |(< y (+ (- c) x))|))
 (19 19 (:REWRITE |(< x (+ c/d y))|))
 (12 12 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-=-0))
 (12 12 (:REWRITE O-INFP->NEQ-0))
 (10 10 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-CHAINING))
 (8 8 (:REWRITE |(+ c (+ d x))|))
 (7 1 (:REWRITE POSITIVE-MIN-TIME-TO-IMPACT-FOR-UAV))
 (6 6 (:REWRITE FOLD-CONSTS-IN-+))
 (6 6 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (4 4 (:REWRITE |(equal (+ (- c) x) y)|))
 (1 1 (:REWRITE NNRAT-P-MIN-TIME-TO-IMPACT-FOR-UAV))
 )
(ALWAYS-SMALLEST-DECREASES-WITH-UPDATE-LOCATION-ALL
 (2162 45 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (945 1 (:REWRITE EVENT-FOR-UAV-UPDATE-LOCATION-ALL-LTE))
 (864 864 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (658 7 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST))
 (644 14 (:LINEAR SMALLEST-IMPENDING-DT-INDEX-PROPERTIES))
 (480 48 (:REWRITE POSITIVE-TO-ONE))
 (480 48 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (385 25 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (385 25 (:REWRITE EVENT-FOR-UAV-N))
 (385 25 (:REWRITE EVENT-FOR-UAV-LEFT))
 (385 25 (:REWRITE EVENT-FOR-UAV-0))
 (299 1 (:REWRITE WF-ENSEMBLE-UPDATE-LOCATION-ALL))
 (299 1 (:REWRITE UPDATE-LOCATION-ALL-ESCORT-CONDITION))
 (243 123 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (217 25 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (192 96 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (136 44 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (101 101 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (96 96 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (57 21 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (51 51 (:TYPE-PRESCRIPTION EVENT-FOR-UAV))
 (48 48 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (48 48 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (46 23 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (43 6 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-2))
 (36 36 (:TYPE-PRESCRIPTION IMPACT-EVENT-FOR-UAV))
 (29 4 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (28 7 (:LINEAR POSITIVE-MIN-TIME-TO-IMPACT-FOR-UAV))
 (27 27 (:TYPE-PRESCRIPTION IMPENDING-IMPACT-EVENT-FOR-UAV))
 (24 24 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (23 23 (:TYPE-PRESCRIPTION UAV-ID-P))
 (23 23 (:TYPE-PRESCRIPTION SMALLEST-IMPENDING-DT-INDEX))
 (23 23 (:REWRITE T-IMPLIES-UAV-ID-P-SMALLEST-IMPENDING-DT-INDEX))
 (22 11 (:REWRITE NNRAT-FIX-NNRAT-P))
 (17 4 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (17 1 (:DEFINITION UAV-LIST-P))
 (14 14 (:TYPE-PRESCRIPTION EXISTS-UAV-WITH-EVENT))
 (12 6 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-1))
 (8 1 (:REWRITE EVENT-FOR-UAV-IMPLIES-IMPENDING-EVENT-FOR-UAV))
 (7 7 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (6 6 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (6 6 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (6 6 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (6 3 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (6 2 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (6 1 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (5 1 (:REWRITE UPDATE-LOCATION-ALL-ZERO))
 (4 3 (:REWRITE DEFAULT-CDR))
 (3 3 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (3 2 (:REWRITE DEFAULT-CAR))
 (3 1 (:REWRITE IMPLIES-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (2 2 (:TYPE-PRESCRIPTION IMPENDING-EVENT-FOR-UAV))
 (2 2 (:TYPE-PRESCRIPTION IMPENDING-ESCORT-FOR-UAV))
 (2 1 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-LT-CHAINING))
 (2 1 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (2 1 (:LINEAR POSP-N))
 (1 1 (:REWRITE NNRAT-EQUIV-OF-NNRAT-FIX))
 (1 1 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-CHAINING))
 (1 1 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (1 1 (:REWRITE ESCORT-CONDITION-NECC))
 (1 1 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (1 1 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 )
(OKIE-DOKIE
 (17957 269 (:REWRITE DEFUNG::NATP-FIX))
 (17115 262 (:DEFINITION NATP))
 (8650 725 (:REWRITE |(< (- x) c)|))
 (5968 151 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (5067 3 (:DEFINITION LEN))
 (3237 537 (:REWRITE SIMPLIFY-PRODUCTS-GATHER-EXPONENTS-<))
 (2790 198 (:REWRITE FLIP-ON-EVENTS-INVARIANTS))
 (2550 300 (:REWRITE WF-ENSEMBLE-UPDATE-LOCATION-ALL))
 (2349 777 (:REWRITE INTEGERP-MINUS-X))
 (1878 306 (:REWRITE LTE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IMPLIES-LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT))
 (1814 5 (:DEFINITION UAV-LIST-FIX$INLINE))
 (1741 1432 (:REWRITE DEFAULT-PLUS-1))
 (1216 721 (:REWRITE DEFAULT-MINUS))
 (1076 820 (:REWRITE DEFAULT-LESS-THAN-2))
 (1071 914 (:REWRITE DEFAULT-TIMES-2))
 (1044 246 (:REWRITE RATIONALP-X))
 (1000 820 (:REWRITE DEFAULT-LESS-THAN-1))
 (926 914 (:REWRITE DEFAULT-TIMES-1))
 (820 820 (:REWRITE THE-FLOOR-BELOW))
 (820 820 (:REWRITE THE-FLOOR-ABOVE))
 (788 82 (:REWRITE POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (739 739 (:REWRITE REDUCE-RATIONAL-MULTIPLICATIVE-CONSTANT-<))
 (739 739 (:REWRITE REDUCE-MULTIPLICATIVE-CONSTANT-<))
 (739 739 (:REWRITE REDUCE-ADDITIVE-CONSTANT-<))
 (731 731 (:REWRITE |(< c (/ x)) positive c --- present in goal|))
 (731 731 (:REWRITE |(< c (/ x)) positive c --- obj t or nil|))
 (731 731 (:REWRITE |(< c (/ x)) negative c --- present in goal|))
 (731 731 (:REWRITE |(< c (/ x)) negative c --- obj t or nil|))
 (731 731 (:REWRITE |(< (/ x) c) positive c --- present in goal|))
 (731 731 (:REWRITE |(< (/ x) c) positive c --- obj t or nil|))
 (731 731 (:REWRITE |(< (/ x) c) negative c --- present in goal|))
 (731 731 (:REWRITE |(< (/ x) c) negative c --- obj t or nil|))
 (731 731 (:REWRITE |(< (/ x) (/ y))|))
 (731 731 (:REWRITE |(< (- x) (- y))|))
 (725 725 (:REWRITE |(< c (- x))|))
 (652 28 (:REWRITE |(< x (if a b c))|))
 (593 593 (:REWRITE REDUCE-INTEGERP-+))
 (593 593 (:META META-INTEGERP-CORRECT))
 (571 47 (:REWRITE UPDATE-LOCATION-ALL-ZERO))
 (541 541 (:REWRITE INTEGERP-<-CONSTANT))
 (541 541 (:REWRITE CONSTANT-<-INTEGERP))
 (497 274 (:REWRITE DEFAULT-CDR))
 (466 22 (:REWRITE |(* y x)|))
 (451 390 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (439 439 (:REWRITE NORMALIZE-TERMS-SUCH-AS-A/A+B-+-B/A+B))
 (432 86 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (393 171 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (392 158 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (390 390 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (390 390 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (390 12 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLIES-LT-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (388 22 (:REWRITE |(* a (/ a))|))
 (384 171 (:REWRITE PREFER-POSITIVE-ADDENDS-EQUAL))
 (382 23 (:DEFINITION UAV-LIST-P))
 (376 256 (:REWRITE |(< 0 (/ x))|))
 (367 171 (:REWRITE SIMPLIFY-PRODUCTS-GATHER-EXPONENTS-EQUAL))
 (331 179 (:REWRITE DEFAULT-CAR))
 (275 275 (:REWRITE NORMALIZE-FACTORS-GATHER-EXPONENTS))
 (275 275 (:REWRITE |(* (- x) y)|))
 (264 264 (:REWRITE |(< 0 (* x y))|))
 (262 262 (:TYPE-PRESCRIPTION NATP))
 (261 228 (:REWRITE |(< (/ x) 0)|))
 (246 246 (:REWRITE REDUCE-RATIONALP-+))
 (246 246 (:REWRITE REDUCE-RATIONALP-*))
 (246 246 (:REWRITE RATIONALP-MINUS-X))
 (246 246 (:META META-RATIONALP-CORRECT))
 (240 182 (:REWRITE |(equal (/ x) c)|))
 (237 237 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-0-<-AX+BX-RATIONAL-REMAINDER))
 (237 237 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-0-<-AX+BX-RATIONAL-COMMON))
 (231 211 (:TYPE-PRESCRIPTION BUBBLE-DOWN))
 (228 228 (:REWRITE |(< (* x y) 0)|))
 (209 209 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (205 171 (:REWRITE SIMPLIFY-SUMS-EQUAL))
 (185 185 (:REWRITE |(< (* x y) 0) rationalp (* x y)|))
 (185 182 (:REWRITE |(equal (/ x) (/ y))|))
 (182 182 (:REWRITE REDUCE-MULTIPLICATIVE-CONSTANT-EQUAL))
 (182 182 (:REWRITE REDUCE-ADDITIVE-CONSTANT-EQUAL))
 (182 182 (:REWRITE |(equal c (/ x))|))
 (182 182 (:REWRITE |(equal (- x) (- y))|))
 (177 177 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (171 171 (:REWRITE EQUAL-OF-PREDICATES-REWRITE))
 (171 171 (:REWRITE |(equal c (- x))|))
 (171 171 (:REWRITE |(equal (- x) c)|))
 (160 160 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-=-0))
 (156 6 (:DEFINITION ORDERED-LOCATION-LIST-P))
 (151 86 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (150 18 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-LT-CHAINING))
 (143 11 (:REWRITE |(<= (/ x) y) with (< 0 x)|))
 (143 11 (:REWRITE |(< x (/ y)) with (< 0 y)|))
 (140 35 (:REWRITE BUBBLE-DOWN-+-MATCH-3))
 (137 11 (:REWRITE |(<= (/ x) y) with (< x 0)|))
 (137 11 (:REWRITE |(< x (/ y)) with (< y 0)|))
 (135 3 (:REWRITE |(<= x (/ y)) with (< 0 y)|))
 (135 3 (:REWRITE |(< (/ x) y) with (< 0 x)|))
 (129 129 (:REWRITE |(+ c (+ d x))|))
 (129 3 (:REWRITE |(<= x (/ y)) with (< y 0)|))
 (129 3 (:REWRITE |(< (/ x) y) with (< x 0)|))
 (118 118 (:REWRITE |(< (+ c/d x) y)|))
 (118 118 (:REWRITE |(< (+ (- c) x) y)|))
 (100 100 (:REWRITE FOLD-CONSTS-IN-+))
 (100 100 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (81 9 (:REWRITE ACL2-NUMBERP-X))
 (76 76 (:REWRITE |(< y (+ (- c) x))|))
 (76 76 (:REWRITE |(< x (+ c/d y))|))
 (72 24 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (72 12 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (66 6 (:DEFINITION UAV-FIX!))
 (48 48 (:TYPE-PRESCRIPTION IMPENDING-IMPACT-EVENT-FOR-UAV))
 (48 48 (:TYPE-PRESCRIPTION IMPACT-EVENT-FOR-UAV))
 (36 6 (:REWRITE ORDERED-LOCATION-LIST-P-UPDATE-LOCATION-ALL))
 (31 25 (:REWRITE O-INFP->NEQ-0))
 (30 30 (:REWRITE COMBINE-CONSTANTS-LINEAR))
 (30 30 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (30 6 (:REWRITE WF-ENSEMBLE-IMPLIES-ESCORT-CONDITION-FLIP-ON-EVENTS))
 (28 14 (:LINEAR POSP-N))
 (26 26 (:REWRITE UAV-FIX-UNDER-UAV-EQUIV))
 (26 17 (:REWRITE |(/ (/ x))|))
 (23 17 (:REWRITE DEFAULT-DIVIDE))
 (22 22 (:REWRITE INTEGERP-/))
 (18 18 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-CHAINING))
 (17 11 (:REWRITE |(equal x (/ y))|))
 (15 15 (:REWRITE OPEN-STEP-TIME-INDUCTION))
 (14 11 (:REWRITE |(not (equal x (/ y)))|))
 (13 13 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-<-0-RATIONAL-REMAINDER))
 (13 13 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-<-0-RATIONAL-COMMON))
 (12 12 (:TYPE-PRESCRIPTION <=LOCATION-ALL))
 (11 11 (:REWRITE INTEGERP-+-REDUCE-CONSTANT))
 (10 10 (:TYPE-PRESCRIPTION BOOLEANP))
 (10 10 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (10 10 (:REWRITE ESCORT-CONDITION-NECC))
 (6 6 (:REWRITE SEQUENTIAL-ID-LIST-P-UPDATE-LOCATION-ALL))
 (3 3 (:REWRITE T-IMPLIES-NNRAT-P-NNRAT-FIX))
 (1 1 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 )
(STEP-TIME-FLIP-ON-EVENTS
 (221 2 (:REWRITE OPEN-STEP-TIME-BASE))
 (182 118 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (69 2 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (65 17 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (50 11 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (40 11 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (38 14 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (38 4 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (32 18 (:REWRITE DEFAULT-CDR))
 (29 4 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (25 13 (:REWRITE DEFAULT-CAR))
 (18 5 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (17 1 (:DEFINITION UAV-LIST-P))
 (15 4 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (11 11 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (11 11 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (11 11 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (9 9 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (7 5 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (5 1 (:REWRITE POSITIVE-SUM))
 (4 4 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (3 3 (:TYPE-PRESCRIPTION BOOLEANP))
 (3 3 (:REWRITE VAL-OF-CONS))
 (3 1 (:DEFINITION NATP))
 (2 2 (:REWRITE UAV-LISTP-UPDATE-LOCATION))
 (2 2 (:REWRITE LEN-FLIP-ON-EVENTS))
 (2 1 (:LINEAR POSP-N))
 (1 1 (:TYPE-PRESCRIPTION NATP))
 (1 1 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (1 1 (:REWRITE O-INFP->NEQ-0))
 (1 1 (:REWRITE NNRAT-EQUIV-OF-NNRAT-FIX))
 (1 1 (:REWRITE MINUS-TO-TIMES))
 )
(INTRODUCE-FLIP-ON-EVENTS-SYMBOLP
 (1265 3 (:DEFINITION STEP-TIME-DEFINITION))
 (426 274 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (226 82 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (214 33 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (140 24 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (125 33 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (90 21 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (87 12 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (69 41 (:REWRITE DEFAULT-CDR))
 (68 4 (:DEFINITION UAV-LIST-P))
 (60 24 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (47 24 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (45 12 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (36 20 (:REWRITE DEFAULT-CAR))
 (34 10 (:REWRITE UPDATE-LOCATION-ALL-ZERO))
 (33 21 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (31 31 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (31 31 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (31 31 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (26 26 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (19 3 (:REWRITE POSITIVE-SUM))
 (12 12 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (11 3 (:DEFINITION NATP))
 (9 9 (:DEFINITION RETURN-LAST))
 (8 4 (:LINEAR POSP-N))
 (6 6 (:REWRITE LEN-UPDATE-LOCATION-ALL))
 (6 6 (:REWRITE LEN-FLIP-ON-EVENTS))
 (6 2 (:REWRITE ASSOCIATIVITY-OF-+))
 (4 4 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (4 4 (:REWRITE O-INFP->NEQ-0))
 (4 4 (:REWRITE FOLD-CONSTS-IN-+))
 (4 4 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (3 3 (:TYPE-PRESCRIPTION NATP))
 (3 3 (:TYPE-PRESCRIPTION BOOLEANP))
 (2 2 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 )
(INTRODUCE-FLIP-ON-EVENTS-GENERIC
 (1265 3 (:DEFINITION STEP-TIME-DEFINITION))
 (426 274 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (226 82 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (214 33 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (140 24 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (125 33 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (90 21 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (87 12 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (69 41 (:REWRITE DEFAULT-CDR))
 (68 4 (:DEFINITION UAV-LIST-P))
 (60 24 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (47 24 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (45 12 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (36 20 (:REWRITE DEFAULT-CAR))
 (34 10 (:REWRITE UPDATE-LOCATION-ALL-ZERO))
 (33 21 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (31 31 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (31 31 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (31 31 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (26 26 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (19 3 (:REWRITE POSITIVE-SUM))
 (12 12 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (11 3 (:DEFINITION NATP))
 (9 9 (:DEFINITION RETURN-LAST))
 (8 4 (:LINEAR POSP-N))
 (6 6 (:REWRITE LEN-UPDATE-LOCATION-ALL))
 (6 6 (:REWRITE LEN-FLIP-ON-EVENTS))
 (6 2 (:REWRITE ASSOCIATIVITY-OF-+))
 (4 4 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (4 4 (:REWRITE O-INFP->NEQ-0))
 (4 4 (:REWRITE FOLD-CONSTS-IN-+))
 (4 4 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (3 3 (:TYPE-PRESCRIPTION NATP))
 (3 3 (:TYPE-PRESCRIPTION BOOLEANP))
 (2 2 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 )
(STEP-TIME-COMPOSITION
 (9231 91 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (8966 1062 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (7074 281 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (6296 326 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (5811 117 (:REWRITE OPEN-UAV-LIST-FIX))
 (5776 168 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (4787 50 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (4401 24 (:DEFINITION LEN))
 (1178 10 (:DEFINITION UAV-LIST-FIX$INLINE))
 (1014 18 (:REWRITE T-WF-ENSEMBLE-IMPLIES-WF-ENSEMBLE-STEP-TIME))
 (992 992 (:TYPE-PRESCRIPTION UPDATE-LOCATION-ALL))
 (984 18 (:REWRITE STEP-TIME-INVARIANTS))
 (930 15 (:REWRITE UPDATE-LOCATION-ALL-ESCORT-CONDITION))
 (927 156 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (822 154 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (740 55 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (720 45 (:REWRITE LTE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IMPLIES-LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT))
 (690 15 (:REWRITE UPDATE-LOCATION-ALL-ZERO))
 (670 41 (:DEFINITION UAV-LIST-P))
 (592 96 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (525 525 (:REWRITE VAL-OF-CONS))
 (497 497 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (478 315 (:REWRITE DEFAULT-CDR))
 (477 477 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (477 477 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (477 477 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (390 15 (:DEFINITION ORDERED-LOCATION-LIST-P))
 (383 36 (:REWRITE DEFUNG::NATP-FIX))
 (364 112 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (295 295 (:REWRITE MINUS-TO-TIMES))
 (277 164 (:REWRITE DEFAULT-CAR))
 (257 38 (:DEFINITION NATP))
 (210 45 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-LT-CHAINING))
 (196 98 (:REWRITE CONS-CAR-CDR))
 (180 132 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (165 15 (:DEFINITION UAV-FIX!))
 (147 112 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (146 59 (:REWRITE RATIONALP-+))
 (146 17 (:REWRITE OPEN-STEP-TIME-INDUCTION))
 (140 35 (:REWRITE RATIONALP-IMPLIES-ACL2-NUMBERP))
 (106 106 (:TYPE-PRESCRIPTION UAV-P))
 (105 50 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (92 92 (:REWRITE UAV-LISTP-UPDATE-LOCATION))
 (90 90 (:TYPE-PRESCRIPTION LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT))
 (90 30 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (90 15 (:REWRITE WF-ENSEMBLE-UPDATE-LOCATION-ALL))
 (90 15 (:REWRITE ORDERED-LOCATION-LIST-P-UPDATE-LOCATION-ALL))
 (90 15 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (70 70 (:TYPE-PRESCRIPTION FIX))
 (68 68 (:REWRITE UAV-FIX-UNDER-UAV-EQUIV))
 (60 60 (:TYPE-PRESCRIPTION IMPENDING-IMPACT-EVENT-FOR-UAV))
 (60 60 (:TYPE-PRESCRIPTION IMPACT-EVENT-FOR-UAV))
 (50 50 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (45 45 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-CHAINING))
 (40 40 (:TYPE-PRESCRIPTION NATP))
 (34 34 (:REWRITE-QUOTED-CONSTANT FIX-UNDER-NUMBER-EQUIV))
 (30 30 (:TYPE-PRESCRIPTION <=LOCATION-ALL))
 (28 14 (:LINEAR POSP-N))
 (25 25 (:REWRITE LEN-UPDATE-LOCATION-ALL))
 (18 6 (:REWRITE POSITIVE-SUM))
 (15 15 (:REWRITE SEQUENTIAL-ID-LIST-P-UPDATE-LOCATION-ALL))
 (12 12 (:TYPE-PRESCRIPTION DEFUNG::TRUE-FROM-X))
 (12 12 (:TYPE-PRESCRIPTION DEFUNG::NOT-TRUE-FROM-NOT-X))
 (12 12 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (12 12 (:REWRITE ESCORT-CONDITION-NECC))
 (10 10 (:TYPE-PRESCRIPTION BOOLEANP))
 (10 10 (:REWRITE LEN-FLIP-ON-EVENTS))
 (8 8 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (4 4 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (3 1 (:REWRITE O-INFP->NEQ-0))
 )
(STEP-TIME-DECOMPOSITION
 (2267 3 (:DEFINITION STEP-TIME-DEFINITION))
 (1993 11 (:DEFINITION |STEP-TIME-test|))
 (1765 6 (:REWRITE OPEN-STEP-TIME-BASE))
 (746 3 (:REWRITE |(< (if a b c) x)|))
 (651 31 (:REWRITE PREFER-POSITIVE-ADDENDS-<))
 (621 11 (:REWRITE DEFUNG::OPEN-TRUE))
 (557 557 (:TYPE-PRESCRIPTION ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (457 10 (:REWRITE DEFUNG::NATP-FIX))
 (446 3 (:DEFINITION NEXT-STEP))
 (441 169 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (434 17 (:REWRITE UAV-LIST-FIX!-TO-UAV-LIST-FIX))
 (426 7 (:DEFINITION NATP))
 (406 23 (:REWRITE OPEN-UAV-LIST-FIX))
 (360 3 (:REWRITE |(+ y (+ x z))|))
 (346 20 (:REWRITE UAV-LIST-FIX-WHEN-UAV-LIST-P))
 (323 6 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (289 4 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (215 35 (:REWRITE |(< (- x) c)|))
 (120 15 (:LINEAR POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (105 3 (:REWRITE OPEN-STEP-TIME-INDUCTION))
 (105 3 (:DEFINITION MIN))
 (71 25 (:REWRITE INTEGERP-MINUS-X))
 (65 38 (:REWRITE DEFAULT-LESS-THAN-2))
 (62 43 (:REWRITE DEFAULT-PLUS-1))
 (61 31 (:REWRITE SIMPLIFY-PRODUCTS-GATHER-EXPONENTS-<))
 (56 3 (:REWRITE |(+ x (if a b c))|))
 (54 54 (:TYPE-PRESCRIPTION UPDATE-LOCATION-ALL))
 (54 3 (:REWRITE |(- (if a b c))|))
 (53 38 (:REWRITE DEFAULT-LESS-THAN-1))
 (45 18 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (44 11 (:REWRITE RATIONALP-X))
 (38 38 (:REWRITE THE-FLOOR-BELOW))
 (38 38 (:REWRITE THE-FLOOR-ABOVE))
 (38 8 (:REWRITE |(- (* c x))|))
 (37 25 (:REWRITE DEFAULT-TIMES-2))
 (36 36 (:TYPE-PRESCRIPTION EXISTS-UAV-WITH-EVENT))
 (36 36 (:REWRITE FLIP-ON-EVENTS-INVARIANTS))
 (36 18 (:REWRITE DEFAULT-MINUS))
 (35 35 (:REWRITE REDUCE-RATIONAL-MULTIPLICATIVE-CONSTANT-<))
 (35 35 (:REWRITE REDUCE-MULTIPLICATIVE-CONSTANT-<))
 (35 35 (:REWRITE REDUCE-ADDITIVE-CONSTANT-<))
 (35 35 (:REWRITE |(< c (/ x)) positive c --- present in goal|))
 (35 35 (:REWRITE |(< c (/ x)) positive c --- obj t or nil|))
 (35 35 (:REWRITE |(< c (/ x)) negative c --- present in goal|))
 (35 35 (:REWRITE |(< c (/ x)) negative c --- obj t or nil|))
 (35 35 (:REWRITE |(< c (- x))|))
 (35 35 (:REWRITE |(< (/ x) c) positive c --- present in goal|))
 (35 35 (:REWRITE |(< (/ x) c) positive c --- obj t or nil|))
 (35 35 (:REWRITE |(< (/ x) c) negative c --- present in goal|))
 (35 35 (:REWRITE |(< (/ x) c) negative c --- obj t or nil|))
 (35 35 (:REWRITE |(< (/ x) (/ y))|))
 (35 35 (:REWRITE |(< (- x) (- y))|))
 (35 6 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (35 6 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (32 9 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (31 31 (:REWRITE REMOVE-WEAK-INEQUALITIES))
 (31 31 (:REWRITE REMOVE-STRICT-INEQUALITIES))
 (31 31 (:REWRITE INTEGERP-<-CONSTANT))
 (31 31 (:REWRITE CONSTANT-<-INTEGERP))
 (31 6 (:REWRITE SIMPLIFY-PRODUCTS-GATHER-EXPONENTS-EQUAL))
 (31 6 (:REWRITE PREFER-POSITIVE-ADDENDS-EQUAL))
 (30 3 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (25 25 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (25 25 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (25 25 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (25 25 (:REWRITE DEFAULT-TIMES-1))
 (24 4 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (24 3 (:DEFINITION |STEP-TIME-base|))
 (22 22 (:META *META*-BETA-REDUCE-HIDE))
 (21 21 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (21 21 (:REWRITE REDUCE-INTEGERP-+))
 (21 21 (:META META-INTEGERP-CORRECT))
 (21 3 (:REWRITE POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (20 4 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (18 18 (:REWRITE FLIP-ON-EVENTS-ELIMINATES-ALL-EVENTS))
 (17 1 (:DEFINITION UAV-LIST-P))
 (15 15 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-0-<-AX+BX-RATIONAL-REMAINDER))
 (15 15 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-0-<-AX+BX-RATIONAL-COMMON))
 (15 15 (:REWRITE |(< 0 (/ x))|))
 (15 15 (:REWRITE |(< 0 (* x y))|))
 (15 15 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (15 3 (:REWRITE |(+ (* c x) (* d x))|))
 (14 5 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (11 11 (:REWRITE REDUCE-RATIONALP-+))
 (11 11 (:REWRITE REDUCE-RATIONALP-*))
 (11 11 (:REWRITE RATIONALP-MINUS-X))
 (11 11 (:META META-RATIONALP-CORRECT))
 (11 11 (:DEFINITION THROW-NONEXEC-ERROR))
 (11 11 (:DEFINITION RETURN-LAST))
 (11 8 (:REWRITE DEFAULT-CDR))
 (11 8 (:REWRITE |(* 1 x)|))
 (10 10 (:REWRITE NORMALIZE-FACTORS-GATHER-EXPONENTS))
 (10 10 (:REWRITE |(* (- x) y)|))
 (10 7 (:TYPE-PRESCRIPTION BUBBLE-DOWN))
 (9 9 (:REWRITE VAL-OF-CONS))
 (9 9 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (8 8 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (8 4 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (7 7 (:TYPE-PRESCRIPTION NATP))
 (7 7 (:REWRITE NORMALIZE-TERMS-SUCH-AS-A/A+B-+-B/A+B))
 (7 7 (:REWRITE |(< (/ x) 0)|))
 (7 7 (:REWRITE |(< (* x y) 0)|))
 (7 4 (:REWRITE DEFAULT-CAR))
 (6 6 (:REWRITE UAV-LISTP-UPDATE-LOCATION))
 (6 6 (:REWRITE SIMPLIFY-SUMS-EQUAL))
 (6 6 (:REWRITE REDUCE-MULTIPLICATIVE-CONSTANT-EQUAL))
 (6 6 (:REWRITE REDUCE-ADDITIVE-CONSTANT-EQUAL))
 (6 6 (:REWRITE EQUAL-OF-PREDICATES-REWRITE))
 (6 6 (:REWRITE |(equal c (/ x))|))
 (6 6 (:REWRITE |(equal c (- x))|))
 (6 6 (:REWRITE |(equal (/ x) c)|))
 (6 6 (:REWRITE |(equal (/ x) (/ y))|))
 (6 6 (:REWRITE |(equal (- x) c)|))
 (6 6 (:REWRITE |(equal (- x) (- y))|))
 (6 3 (:REWRITE NNRAT-FIX-FAST-TO-NNRAT-FIX))
 (6 3 (:REWRITE CONS-CAR-CDR))
 (5 5 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (5 5 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-=-0))
 (4 4 (:TYPE-PRESCRIPTION UAV-P))
 (4 4 (:TYPE-PRESCRIPTION BOOLEANP))
 (4 4 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (4 4 (:REWRITE |(< (* x y) 0) rationalp (* x y)|))
 (4 4 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (4 4 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (3 3 (:REWRITE |(< (+ c/d x) y)|))
 (3 3 (:REWRITE |(< (+ (- c) x) y)|))
 (2 1 (:LINEAR POSP-N))
 (1 1 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (1 1 (:REWRITE ESCORT-CONDITION-NECC))
 )
(SEQ2)
(T-T-IMPLIES-NNRAT-P-SEQ2
 (36 36 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (8 2 (:REWRITE NNRAT-FIX-NNRAT-P))
 )
(SEQ2)
(NNRAT-EQUIV-1-IMPLIES-EQUAL-SEQ2
 (61 61 (:TYPE-PRESCRIPTION NNRAT-FIX))
 )
(NNRAT-EQUIV-2-IMPLIES-EQUAL-SEQ2
 (61 61 (:TYPE-PRESCRIPTION NNRAT-FIX))
 )
(STEP-TIME-SEQ2
 (789 3 (:DEFINITION STEP-TIME-DEFINITION))
 (603 9 (:DEFINITION |STEP-TIME-test|))
 (548 6 (:REWRITE OPEN-STEP-TIME-BASE))
 (294 130 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (273 15 (:REWRITE UAV-LIST-FIX!-TO-UAV-LIST-FIX))
 (251 251 (:TYPE-PRESCRIPTION ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (249 21 (:REWRITE OPEN-UAV-LIST-FIX))
 (233 60 (:REWRITE NNRAT-FIX-NNRAT-P))
 (189 18 (:REWRITE UAV-LIST-FIX-WHEN-UAV-LIST-P))
 (178 3 (:DEFINITION NEXT-STEP))
 (164 6 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (154 9 (:REWRITE DEFUNG::OPEN-TRUE))
 (134 4 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (122 27 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (54 54 (:TYPE-PRESCRIPTION UPDATE-LOCATION-ALL))
 (45 18 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (35 6 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (32 9 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (30 3 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (25 4 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (24 4 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (21 21 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (21 21 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (21 21 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (21 21 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (21 3 (:REWRITE POSITIVE-SUM))
 (21 3 (:DEFINITION MIN))
 (20 4 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (20 3 (:REWRITE OPEN-STEP-TIME-INDUCTION))
 (18 18 (:TYPE-PRESCRIPTION EXISTS-UAV-WITH-EVENT))
 (18 18 (:META *META*-BETA-REDUCE-HIDE))
 (17 1 (:DEFINITION UAV-LIST-P))
 (16 3 (:DEFINITION |STEP-TIME-base|))
 (14 5 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (12 3 (:DEFINITION NATP))
 (11 8 (:REWRITE DEFAULT-CDR))
 (9 9 (:REWRITE VAL-OF-CONS))
 (9 9 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (9 9 (:DEFINITION THROW-NONEXEC-ERROR))
 (9 9 (:DEFINITION RETURN-LAST))
 (8 4 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (7 4 (:REWRITE DEFAULT-CAR))
 (6 6 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (6 6 (:REWRITE UAV-LISTP-UPDATE-LOCATION))
 (6 3 (:REWRITE CONS-CAR-CDR))
 (6 2 (:REWRITE ASSOCIATIVITY-OF-+))
 (4 4 (:TYPE-PRESCRIPTION UAV-P))
 (4 4 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (4 4 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (4 4 (:REWRITE FOLD-CONSTS-IN-+))
 (4 4 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (4 4 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (4 4 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (3 3 (:TYPE-PRESCRIPTION NATP))
 (3 3 (:REWRITE MINUS-TO-TIMES))
 (2 1 (:LINEAR POSP-N))
 (1 1 (:TYPE-PRESCRIPTION BOOLEANP))
 (1 1 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (1 1 (:REWRITE NNRAT-EQUIV-OF-NNRAT-FIX))
 (1 1 (:REWRITE ESCORT-CONDITION-NECC))
 )
(FLIP-UAV-I-FLIP-ON-EVENTS
 (128 128 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (36 36 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (28 14 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (26 3 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (20 2 (:REWRITE POSITIVE-TO-ONE))
 (20 2 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (17 2 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (17 2 (:REWRITE EVENT-FOR-UAV-N))
 (17 2 (:REWRITE EVENT-FOR-UAV-LEFT))
 (17 2 (:REWRITE EVENT-FOR-UAV-0))
 (17 2 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (17 1 (:DEFINITION UAV-LIST-P))
 (14 3 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (13 2 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (12 4 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (11 3 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (10 5 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (10 2 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (9 9 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (6 4 (:REWRITE DEFAULT-CDR))
 (5 5 (:REWRITE UAV-ID-FIX-CONSTANT))
 (5 3 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (4 4 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (4 1 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (3 3 (:REWRITE UAV-ID-P-CONSTANT))
 (2 2 (:TYPE-PRESCRIPTION EXISTS-UAV-WITH-EVENT))
 (2 2 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (2 2 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (2 2 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (2 2 (:REWRITE LEN-FLIP-ON-EVENTS))
 (2 2 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (2 1 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (2 1 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (2 1 (:LINEAR POSP-N))
 (1 1 (:TYPE-PRESCRIPTION UAV-P))
 (1 1 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (1 1 (:REWRITE ESCORT-CONDITION-NECC))
 (1 1 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (1 1 (:REWRITE DEFAULT-CAR))
 )
(STEP-TIME-MIN-TIME-TO-IMPACT-FLIP-HELPER
 (9791 48 (:REWRITE OPEN-STEP-TIME-BASE))
 (8351 243 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (3744 3744 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (2080 208 (:REWRITE POSITIVE-TO-ONE))
 (2080 208 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (1759 104 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (1759 104 (:REWRITE EVENT-FOR-UAV-N))
 (1759 104 (:REWRITE EVENT-FOR-UAV-LEFT))
 (1759 104 (:REWRITE EVENT-FOR-UAV-0))
 (1212 560 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (960 48 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (864 104 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (852 426 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (814 814 (:TYPE-PRESCRIPTION IMPENDING-IMPACT-EVENT-FOR-UAV))
 (804 234 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY))
 (777 383 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (750 24 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (718 243 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (709 234 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY-TOO))
 (588 66 (:REWRITE LESS-THAN-LEAST-IMPLIES-LESS-THAN-ANY))
 (432 432 (:TYPE-PRESCRIPTION UPDATE-LOCATION-ALL))
 (424 234 (:REWRITE MIN-TIME-TO-IMPACT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (416 416 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (396 81 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-2))
 (388 116 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (380 380 (:REWRITE ITH-UAV-FLIP-ON-EVENTS))
 (285 95 (:REWRITE IMPLIES-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (247 142 (:REWRITE DEFAULT-CDR))
 (224 83 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (208 208 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (208 208 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (190 190 (:TYPE-PRESCRIPTION UAV-ID-P))
 (190 190 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (190 190 (:TYPE-PRESCRIPTION IMPENDING-ESCORT-FOR-UAV))
 (188 50 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (175 92 (:REWRITE DEFAULT-CAR))
 (170 10 (:DEFINITION UAV-LIST-P))
 (150 24 (:REWRITE POSITIVE-SUM))
 (129 129 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (129 129 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (129 129 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (123 123 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (120 10 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST))
 (95 95 (:REWRITE UAV-ID-P-CONSTANT))
 (95 95 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (87 24 (:DEFINITION NATP))
 (87 11 (:REWRITE UPDATE-UAV-LOCATION-ZERO))
 (72 50 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (48 48 (:REWRITE UAV-LISTP-UPDATE-LOCATION))
 (47 47 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (39 39 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (30 10 (:LINEAR FLIP-ON-EVENTS-IS-CLOSER-TO-EVENT-LINEAR))
 (27 9 (:REWRITE FLIP-ON-EVENTS-IS-CLOSER-TO-EVENT))
 (24 24 (:TYPE-PRESCRIPTION NATP))
 (24 24 (:REWRITE OPEN-STEP-TIME-INDUCTION))
 (24 24 (:DEFINITION RETURN-LAST))
 (20 10 (:LINEAR POSP-N))
 (12 12 (:TYPE-PRESCRIPTION BOOLEANP))
 (12 12 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (10 10 (:REWRITE O-INFP->NEQ-0))
 (10 10 (:REWRITE ESCORT-CONDITION-NECC))
 )
(STEP-TIME-MIN-TIME-TO-IMPACT-FLIP)
(STEP-TIME-MIN-TIME-TO-IMPACT
 (717 10 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (607 1 (:REWRITE STEP-TIME-MIN-TIME-TO-IMPACT-FLIP))
 (324 324 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (261 1 (:DEFINITION STEP-TIME-DEFINITION))
 (234 3 (:LINEAR POSITIVE-MIN-TIME-TO-IMPACT-FOR-UAV))
 (219 4 (:DEFINITION |STEP-TIME-test|))
 (187 2 (:REWRITE OPEN-STEP-TIME-BASE))
 (180 18 (:REWRITE POSITIVE-TO-ONE))
 (180 18 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (149 9 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (149 9 (:REWRITE EVENT-FOR-UAV-N))
 (149 9 (:REWRITE EVENT-FOR-UAV-LEFT))
 (149 9 (:REWRITE EVENT-FOR-UAV-0))
 (132 68 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (105 50 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (99 6 (:REWRITE UAV-LIST-FIX!-TO-UAV-LIST-FIX))
 (93 93 (:TYPE-PRESCRIPTION ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (89 8 (:REWRITE OPEN-UAV-LIST-FIX))
 (79 21 (:REWRITE NNRAT-FIX-NNRAT-P))
 (76 38 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (73 9 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (69 7 (:REWRITE UAV-LIST-FIX-WHEN-UAV-LIST-P))
 (69 2 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (56 1 (:DEFINITION NEXT-STEP))
 (51 4 (:REWRITE DEFUNG::OPEN-TRUE))
 (51 2 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (50 10 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (43 15 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (38 9 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (38 3 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST))
 (36 36 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (35 5 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY))
 (30 30 (:TYPE-PRESCRIPTION IMPENDING-IMPACT-EVENT-FOR-UAV))
 (30 5 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY-TOO))
 (29 4 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (21 1 (:REWRITE OPEN-STEP-TIME-INDUCTION))
 (20 20 (:REWRITE ITH-UAV-FLIP-ON-EVENTS))
 (19 7 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (18 18 (:TYPE-PRESCRIPTION UPDATE-LOCATION-ALL))
 (18 18 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (18 18 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (18 18 (:REWRITE FLIP-ON-EVENTS-INVARIANTS))
 (18 5 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (17 1 (:DEFINITION UAV-LIST-P))
 (16 16 (:TYPE-PRESCRIPTION UAV-ID-P))
 (16 16 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (15 5 (:REWRITE MIN-TIME-TO-IMPACT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (15 5 (:REWRITE IMPLIES-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (13 13 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (12 12 (:TYPE-PRESCRIPTION EXISTS-UAV-WITH-EVENT))
 (12 2 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (12 2 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (10 10 (:TYPE-PRESCRIPTION IMPENDING-ESCORT-FOR-UAV))
 (10 1 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (8 8 (:REWRITE UAV-ID-P-CONSTANT))
 (8 8 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (8 8 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (8 8 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (8 8 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (8 8 (:META *META*-BETA-REDUCE-HIDE))
 (8 2 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (8 1 (:DEFINITION |STEP-TIME-base|))
 (7 1 (:DEFINITION MIN))
 (6 3 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (6 2 (:LINEAR FLIP-ON-EVENTS-IS-CLOSER-TO-EVENT-LINEAR))
 (5 5 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (5 4 (:REWRITE DEFAULT-CDR))
 (5 1 (:REWRITE POSITIVE-SUM))
 (4 4 (:DEFINITION THROW-NONEXEC-ERROR))
 (4 4 (:DEFINITION RETURN-LAST))
 (4 2 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (3 3 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (3 3 (:REWRITE VAL-OF-CONS))
 (3 2 (:REWRITE DEFAULT-CAR))
 (3 1 (:DEFINITION NATP))
 (2 2 (:TYPE-PRESCRIPTION UAV-P))
 (2 2 (:REWRITE UPDATE-UAV-LOCATION-ZERO))
 (2 2 (:REWRITE UAV-LISTP-UPDATE-LOCATION))
 (2 2 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (2 2 (:REWRITE O-INFP->NEQ-0))
 (2 2 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (2 2 (:REWRITE FLIP-ON-EVENTS-ELIMINATES-ALL-EVENTS))
 (2 2 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (2 2 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (2 1 (:REWRITE NNRAT-FIX-FAST-TO-NNRAT-FIX))
 (2 1 (:REWRITE CONS-CAR-CDR))
 (2 1 (:LINEAR POSP-N))
 (1 1 (:TYPE-PRESCRIPTION NATP))
 (1 1 (:TYPE-PRESCRIPTION BOOLEANP))
 (1 1 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (1 1 (:REWRITE NNRAT-EQUIV-OF-NNRAT-FIX))
 (1 1 (:REWRITE MINUS-TO-TIMES))
 (1 1 (:REWRITE ESCORT-CONDITION-NECC))
 )
(MIN-TIME-MIRROR
 (27645 53 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (13481 35 (:REWRITE EVENT-FOR-UAV-LEFT))
 (7365 53 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (5629 909 (:REWRITE REDUCE-ADDITIVE-CONSTANT-<))
 (3328 53 (:REWRITE EVENT-FOR-UAV-N))
 (3154 26 (:LINEAR EVENLY-SPACED-BOUNDARIES))
 (2850 53 (:REWRITE EVENT-FOR-UAV-0))
 (2331 83 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-RIGHT))
 (2331 83 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-LEFT))
 (1950 22 (:REWRITE DEFUNG::NATP-FIX))
 (1830 22 (:DEFINITION NATP))
 (1724 695 (:REWRITE PREFER-POSITIVE-ADDENDS-<))
 (1716 31 (:DEFINITION =))
 (1663 18 (:REWRITE OPEN-UAV-ID-P-SUM))
 (1613 1418 (:REWRITE DEFAULT-PLUS-1))
 (1579 940 (:REWRITE DEFAULT-LESS-THAN-2))
 (1313 898 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (1288 313 (:REWRITE SIMPLIFY-PRODUCTS-GATHER-EXPONENTS-EQUAL))
 (1167 709 (:REWRITE |(< (- x) c)|))
 (940 940 (:REWRITE THE-FLOOR-BELOW))
 (940 940 (:REWRITE THE-FLOOR-ABOVE))
 (909 909 (:REWRITE REDUCE-RATIONAL-MULTIPLICATIVE-CONSTANT-<))
 (909 909 (:REWRITE REDUCE-MULTIPLICATIVE-CONSTANT-<))
 (907 305 (:REWRITE SIMPLIFY-SUMS-EQUAL))
 (884 884 (:REWRITE NORMALIZE-TERMS-SUCH-AS-A/A+B-+-B/A+B))
 (869 32 (:REWRITE UAV-ID-P-PLUS-C))
 (832 305 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (815 699 (:REWRITE REMOVE-STRICT-INEQUALITIES))
 (732 244 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (711 711 (:REWRITE |(< c (/ x)) positive c --- present in goal|))
 (711 711 (:REWRITE |(< c (/ x)) positive c --- obj t or nil|))
 (711 711 (:REWRITE |(< c (/ x)) negative c --- present in goal|))
 (711 711 (:REWRITE |(< c (/ x)) negative c --- obj t or nil|))
 (711 711 (:REWRITE |(< (/ x) c) positive c --- present in goal|))
 (711 711 (:REWRITE |(< (/ x) c) positive c --- obj t or nil|))
 (711 711 (:REWRITE |(< (/ x) c) negative c --- present in goal|))
 (711 711 (:REWRITE |(< (/ x) c) negative c --- obj t or nil|))
 (711 711 (:REWRITE |(< (/ x) (/ y))|))
 (711 711 (:REWRITE |(< (- x) (- y))|))
 (709 709 (:REWRITE |(< c (- x))|))
 (699 699 (:REWRITE INTEGERP-<-CONSTANT))
 (699 699 (:REWRITE CONSTANT-<-INTEGERP))
 (647 10 (:REWRITE EQUAL-SUM-TO-UAV-ID-EQUIV))
 (520 60 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (501 501 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (498 53 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (340 20 (:DEFINITION UAV-LIST-P))
 (322 322 (:REWRITE |(< (+ c/d x) y)|))
 (319 315 (:REWRITE |(equal (/ x) (/ y))|))
 (315 315 (:REWRITE REDUCE-MULTIPLICATIVE-CONSTANT-EQUAL))
 (315 315 (:REWRITE REDUCE-ADDITIVE-CONSTANT-EQUAL))
 (315 315 (:REWRITE |(equal c (/ x))|))
 (315 315 (:REWRITE |(equal (- x) (- y))|))
 (313 313 (:REWRITE EQUAL-OF-PREDICATES-REWRITE))
 (313 313 (:REWRITE |(equal c (- x))|))
 (313 313 (:REWRITE |(equal (- x) c)|))
 (312 312 (:REWRITE RIGHT-PERIMETER-PINCHING))
 (232 232 (:REWRITE |(< (* x y) 0)|))
 (221 43 (:REWRITE INTEGERP-MINUS-X))
 (204 11 (:REWRITE ADJACENT-LOCATIONS-NEVER-SMALLER-MINUS))
 (180 180 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (176 78 (:REWRITE DEFAULT-TIMES-2))
 (140 124 (:REWRITE |(< (/ x) 0)|))
 (127 127 (:REWRITE |(< x (+ c/d y))|))
 (126 21 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST))
 (117 113 (:REWRITE |(< 0 (/ x))|))
 (116 20 (:REWRITE |(- (* c x))|))
 (113 113 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-0-<-AX+BX-RATIONAL-REMAINDER))
 (113 113 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-0-<-AX+BX-RATIONAL-COMMON))
 (113 113 (:REWRITE |(< 0 (* x y))|))
 (112 112 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-<-0-RATIONAL-REMAINDER))
 (112 112 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-<-0-RATIONAL-COMMON))
 (100 17 (:REWRITE O-INFP->NEQ-0))
 (100 2 (:REWRITE |(<= x (/ y)) with (< 0 y)|))
 (100 2 (:REWRITE |(<= (/ x) y) with (< 0 x)|))
 (100 2 (:REWRITE |(< x (/ y)) with (< 0 y)|))
 (100 2 (:REWRITE |(< (/ x) y) with (< 0 x)|))
 (96 2 (:REWRITE |(<= x (/ y)) with (< y 0)|))
 (96 2 (:REWRITE |(<= (/ x) y) with (< x 0)|))
 (96 2 (:REWRITE |(< x (/ y)) with (< y 0)|))
 (96 2 (:REWRITE |(< (/ x) y) with (< x 0)|))
 (95 95 (:REWRITE HELPER-RULE))
 (94 78 (:REWRITE DEFAULT-TIMES-1))
 (93 1 (:REWRITE NORMALIZE-UAV-ID-EQUIV-PLUS-FIX))
 (90 90 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (87 87 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (87 41 (:REWRITE DEFAULT-MINUS))
 (84 21 (:LINEAR POSITIVE-MIN-TIME-TO-IMPACT-FOR-UAV))
 (70 2 (:REWRITE UAV-ID-P-1))
 (63 21 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (49 49 (:META *META*-UNHIDE-HIDE))
 (47 47 (:REWRITE <-UAV-ID-FIX-N-REWRITE-2))
 (42 42 (:TYPE-PRESCRIPTION EXISTS-UAV-WITH-EVENT))
 (40 40 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (40 40 (:REWRITE DEFAULT-CDR))
 (40 20 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (40 20 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (40 20 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (40 3 (:REWRITE LESS-THAN-ZERO-TO-UAV-ID-EQUIV))
 (34 34 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (33 33 (:REWRITE REDUCE-INTEGERP-+))
 (33 33 (:META META-INTEGERP-CORRECT))
 (32 12 (:TYPE-PRESCRIPTION BUBBLE-DOWN))
 (30 2 (:REWRITE ACL2-NUMBERP-X))
 (28 28 (:REWRITE NORMALIZE-FACTORS-GATHER-EXPONENTS))
 (26 26 (:REWRITE |(* (- x) y)|))
 (26 26 (:LINEAR EVENLY-SPACED-BOUNDARIES-CONSTANT))
 (24 24 (:REWRITE |(equal (+ (- c) x) y)|))
 (22 22 (:TYPE-PRESCRIPTION NATP))
 (21 21 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (20 20 (:TYPE-PRESCRIPTION UAV-P))
 (20 20 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (20 20 (:REWRITE ESCORT-CONDITION-NECC))
 (20 20 (:REWRITE DEFAULT-CAR))
 (20 20 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (20 20 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (18 18 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-=-0))
 (14 2 (:REWRITE RATIONALP-X))
 (13 13 (:REWRITE |(< (* x y) 0) rationalp (* x y)|))
 (13 11 (:REWRITE <-C-UAV-ID-FIX-REWRITE-0))
 (11 11 (:REWRITE |(equal x (if a b c))|))
 (10 2 (:REWRITE |(equal x (/ y))|))
 (8 4 (:REWRITE DEFAULT-DIVIDE))
 (7 7 (:REWRITE NOT-UAV-ID-P-N))
 (6 2 (:REWRITE |(not (equal x (/ y)))|))
 (5 5 (:REWRITE OPEN-UAV-LIST-FIX))
 (4 4 (:REWRITE INTEGERP-/))
 (3 3 (:REWRITE PLUS-EQUAL-N-TO-EQUIV-N-MINUS-1))
 (2 2 (:REWRITE REDUCE-RATIONALP-+))
 (2 2 (:REWRITE REDUCE-RATIONALP-*))
 (2 2 (:REWRITE RATIONALP-MINUS-X))
 (2 2 (:REWRITE FOLD-CONSTS-IN-+))
 (2 2 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (2 2 (:META META-RATIONALP-CORRECT))
 (1 1 (:REWRITE |(- (if a b c))|))
 (1 1 (:REWRITE |(* x (if a b c))|))
 )
(NOT-IMPACT-EVENT-FOR-UAV-IMPLIES-NOT-ZERO-MIN-TIME-TO-IMPACT-FOR-UAV
 (153 3 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (108 108 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (60 6 (:REWRITE POSITIVE-TO-ONE))
 (60 6 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (48 3 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (48 3 (:REWRITE EVENT-FOR-UAV-N))
 (48 3 (:REWRITE EVENT-FOR-UAV-LEFT))
 (48 3 (:REWRITE EVENT-FOR-UAV-0))
 (30 15 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (27 3 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (26 13 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (26 3 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (18 3 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (17 1 (:DEFINITION UAV-LIST-P))
 (12 12 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (11 3 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (9 9 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (9 9 (:TYPE-PRESCRIPTION UAV-ID-P))
 (9 9 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (6 6 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (6 6 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (6 1 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (6 1 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (4 4 (:TYPE-PRESCRIPTION EXISTS-UAV-WITH-EVENT))
 (4 4 (:REWRITE UAV-ID-P-CONSTANT))
 (4 1 (:LINEAR POSITIVE-MIN-TIME-TO-IMPACT-FOR-UAV))
 (4 1 (:LINEAR POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (3 3 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (3 1 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (2 2 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (2 2 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (2 2 (:REWRITE DEFAULT-CDR))
 (2 1 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (2 1 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (2 1 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (2 1 (:LINEAR POSP-N))
 (1 1 (:TYPE-PRESCRIPTION UAV-P))
 (1 1 (:REWRITE UAV-ID-FIX-CONSTANT))
 (1 1 (:REWRITE OPEN-UAV-LIST-FIX))
 (1 1 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (1 1 (:REWRITE ESCORT-CONDITION-NECC))
 (1 1 (:REWRITE DEFAULT-CAR))
 (1 1 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (1 1 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (1 1 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 )
(REX)
(IMPENDING-ESCORT-UPPER-BOUND
 (249 249 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (79 1 (:DEFINITION UAV-LIST-FIX$INLINE))
 (73 2 (:REWRITE UAV-LIST-FIX-WHEN-UAV-LIST-P))
 (67 4 (:DEFINITION UAV-LIST-P))
 (47 10 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (35 35 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (31 5 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (29 1 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (27 5 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (22 8 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (18 3 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (17 10 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (14 1 (:REWRITE REWRITE-LEFT-BOUNDARY-TO-RIGHT-BOUNDARY))
 (12 5 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (11 11 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (11 11 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (11 11 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (9 3 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (8 8 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (6 6 (:TYPE-PRESCRIPTION UAV-P))
 (5 5 (:REWRITE POSITIVE-SUM))
 (5 5 (:REWRITE DEFAULT-CDR))
 (5 5 (:REWRITE DEFAULT-CAR))
 (5 1 (:REWRITE UAV-ID-P-PLUS-C))
 (4 4 (:REWRITE UAV-ID-P-CONSTANT))
 (4 2 (:LINEAR POSP-N))
 (3 3 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (3 3 (:REWRITE UAV-ID-FIX-CONSTANT))
 (3 3 (:REWRITE UAV-ID-EQUIV-TO-DOUBLE-CONTAINMENT))
 (3 3 (:META *META*-UNHIDE-HIDE))
 (2 2 (:REWRITE RIGHT-PERIMETER-PINCHING))
 (2 2 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (1 1 (:REWRITE UAV-LIST-P-OF-UAV-LIST-FIX))
 (1 1 (:REWRITE OPEN-UAV-LIST-FIX))
 (1 1 (:REWRITE NOT-UAV-ID-P-N))
 (1 1 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (1 1 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 )
(IMPENDING-ESCORT-LOWER-BOUND
 (79 1 (:DEFINITION UAV-LIST-FIX$INLINE))
 (73 2 (:REWRITE UAV-LIST-FIX-WHEN-UAV-LIST-P))
 (67 4 (:DEFINITION UAV-LIST-P))
 (64 64 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (36 8 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (34 34 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (31 5 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (29 1 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (27 5 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (18 3 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (14 8 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (14 7 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (12 5 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (9 3 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (8 8 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (6 6 (:TYPE-PRESCRIPTION UAV-P))
 (5 5 (:REWRITE DEFAULT-CDR))
 (5 5 (:REWRITE DEFAULT-CAR))
 (4 4 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (4 4 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (4 4 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (4 2 (:LINEAR POSP-N))
 (4 1 (:REWRITE O-INFP->NEQ-0))
 (3 3 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (3 3 (:META *META*-UNHIDE-HIDE))
 (2 2 (:REWRITE UAV-ID-EQUIV-TO-DOUBLE-CONTAINMENT))
 (2 2 (:REWRITE RIGHT-PERIMETER-PINCHING))
 (1 1 (:REWRITE OPEN-UAV-LIST-FIX))
 (1 1 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (1 1 (:REWRITE DEGENERATE-ZED))
 )
(UAV->DIRECTION-UPDATE-UAV-LOCATION
 (16 16 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (4 1 (:REWRITE NNRAT-FIX-NNRAT-P))
 (3 1 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (2 2 (:TYPE-PRESCRIPTION UAV-P))
 (2 2 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (2 2 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (2 2 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (1 1 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (1 1 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (1 1 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (1 1 (:META *META*-UNHIDE-HIDE))
 )
(UAV->ID-UPDATE-UAV-LOCATION
 (40 40 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (22 22 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (4 1 (:REWRITE NNRAT-FIX-NNRAT-P))
 (3 1 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (2 2 (:TYPE-PRESCRIPTION UAV-P))
 (2 2 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (2 2 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (2 2 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (2 1 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (2 1 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (2 1 (:LINEAR POSP-N))
 (1 1 (:REWRITE UAV-ID-FIX-CONSTANT))
 (1 1 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (1 1 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (1 1 (:META *META*-UNHIDE-HIDE))
 )
(UAV->DIRECTION-FLIP-UAV
 (86 86 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (30 15 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (30 4 (:REWRITE POSITIVE-TO-ONE))
 (26 1 (:REWRITE ITH-UAV-ID-IS-I))
 (24 2 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (24 2 (:REWRITE EVENT-FOR-UAV-N))
 (24 2 (:REWRITE EVENT-FOR-UAV-LEFT))
 (24 2 (:REWRITE EVENT-FOR-UAV-0))
 (23 3 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (20 1 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (19 12 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (18 3 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (14 1 (:DEFINITION UAV-LIST-P))
 (10 2 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (9 3 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (7 7 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (6 6 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (4 4 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (3 3 (:REWRITE UAV-ID-P-CONSTANT))
 (3 3 (:REWRITE UAV-ID-FIX-CONSTANT))
 (2 2 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (2 2 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (2 2 (:META *META*-UNHIDE-HIDE))
 (2 1 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (2 1 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (2 1 (:LINEAR POSP-N))
 (1 1 (:REWRITE RIGHT-PERIMETER-PINCHING))
 (1 1 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (1 1 (:REWRITE DEFAULT-CDR))
 (1 1 (:REWRITE DEFAULT-CAR))
 )
(NOT-EVENT-IMPLIES-FLIP-UAV-ID
 (110 110 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (72 72 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (40 4 (:REWRITE POSITIVE-TO-ONE))
 (40 4 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (32 2 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (32 2 (:REWRITE EVENT-FOR-UAV-N))
 (32 2 (:REWRITE EVENT-FOR-UAV-LEFT))
 (32 2 (:REWRITE EVENT-FOR-UAV-0))
 (28 14 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (26 3 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (24 11 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (18 3 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (18 2 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (17 1 (:DEFINITION UAV-LIST-P))
 (11 3 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (9 9 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (9 3 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (8 8 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (8 4 (:REWRITE DEFAULT-CDR))
 (7 3 (:REWRITE DEFAULT-CAR))
 (6 1 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (4 4 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (4 4 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (3 3 (:REWRITE UAV-ID-P-CONSTANT))
 (3 3 (:REWRITE UAV-ID-FIX-CONSTANT))
 (2 2 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (2 2 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (2 1 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (2 1 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (2 1 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (2 1 (:LINEAR POSP-N))
 (1 1 (:TYPE-PRESCRIPTION UAV-P))
 (1 1 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (1 1 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (1 1 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 )
(TIME-TO-IMPACT
 (27758 142 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (23628 3089 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (22609 6 (:DEFINITION STEP-TIME-MEASURE-DEFINITION))
 (21145 1069 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (17446 198 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (16947 297 (:DEFINITION LEN))
 (14778 980 (:DEFINITION UAV-LIST-P))
 (11171 1299 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (3294 1002 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (2257 2257 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (1893 1893 (:REWRITE DEFAULT-CDR))
 (1886 90 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (1738 22 (:DEFINITION UAV-LIST-FIX$INLINE))
 (1206 600 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (1024 1024 (:TYPE-PRESCRIPTION UAV-P))
 (1002 1002 (:REWRITE DEFAULT-CAR))
 (891 891 (:TYPE-PRESCRIPTION LEN))
 (638 22 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (618 600 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (594 594 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (558 21 (:LINEAR POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (500 58 (:REWRITE POSITIVE-SUM))
 (466 6 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (412 412 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (411 21 (:REWRITE FLIP-ON-EVENTS-INVARIANTS))
 (305 48 (:DEFINITION NATP))
 (270 90 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (198 198 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (198 198 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (198 190 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (198 99 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (198 99 (:LINEAR POSP-N))
 (190 190 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (190 190 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (128 128 (:REWRITE OPEN-UAV-LIST-FIX))
 (99 99 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (84 21 (:REWRITE WF-ENSEMBLE-IMPLIES-ESCORT-CONDITION-FLIP-ON-EVENTS))
 (48 48 (:TYPE-PRESCRIPTION NATP))
 (35 3 (:REWRITE O<=-O-FINP-DEF))
 (26 26 (:REWRITE UAV-LIST-P-OF-UAV-LIST-FIX))
 (26 26 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (21 21 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (15 5 (:REWRITE ASSOCIATIVITY-OF-+))
 (12 6 (:REWRITE RATIONALP-+))
 (12 6 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (10 10 (:REWRITE FOLD-CONSTS-IN-+))
 (10 10 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (10 2 (:REWRITE O-FIRST-EXPT-<))
 (8 3 (:REWRITE AC-<))
 (6 6 (:TYPE-PRESCRIPTION DEFUNG::TRUE-FROM-X))
 (6 6 (:TYPE-PRESCRIPTION DEFUNG::NOT-TRUE-FROM-NOT-X))
 (6 6 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (6 3 (:REWRITE O-INFP-O-FINP-O<=))
 (6 3 (:REWRITE O-FIRST-EXPT-DEF-O-FINP))
 (3 3 (:REWRITE |a < b & b < c  =>  a < c|))
 (3 2 (:REWRITE O-FIRST-COEFF-<))
 )
(T-T-T-IMPLIES-NNRAT-P-TIME-TO-IMPACT
 (43657 210 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (37557 4917 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (33644 1689 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (27584 308 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (27324 462 (:DEFINITION LEN))
 (23014 1525 (:DEFINITION UAV-LIST-P))
 (17967 2015 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (5050 1553 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (3512 3512 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (3170 35 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (2953 2953 (:REWRITE DEFAULT-CDR))
 (2364 123 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (2246 1138 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (2212 28 (:DEFINITION UAV-LIST-FIX$INLINE))
 (1967 959 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (1581 1581 (:TYPE-PRESCRIPTION UAV-P))
 (1553 1553 (:REWRITE DEFAULT-CAR))
 (1386 1386 (:TYPE-PRESCRIPTION LEN))
 (1064 959 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (812 28 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (789 29 (:LINEAR POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (626 626 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (586 29 (:REWRITE FLIP-ON-EVENTS-INVARIANTS))
 (491 60 (:REWRITE POSITIVE-SUM))
 (396 396 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (384 324 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (369 123 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (361 295 (:REWRITE OPEN-UAV-LIST-FIX))
 (324 324 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (324 324 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (309 155 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (308 308 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (308 308 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (297 44 (:DEFINITION NATP))
 (208 42 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (154 154 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (130 65 (:LINEAR POSP-N))
 (116 29 (:REWRITE WF-ENSEMBLE-IMPLIES-ESCORT-CONDITION-FLIP-ON-EVENTS))
 (87 29 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (84 42 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (70 35 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (66 66 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (58 17 (:REWRITE RATIONALP-+))
 (55 55 (:DEFINITION RETURN-LAST))
 (44 44 (:TYPE-PRESCRIPTION NATP))
 (42 42 (:REWRITE UAV-ID-FIX-CONSTANT))
 (35 35 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (32 32 (:REWRITE UAV-ID-P-CONSTANT))
 (30 10 (:REWRITE ASSOCIATIVITY-OF-+))
 (29 29 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (26 26 (:TYPE-PRESCRIPTION NNRAT-FIX-FAST$INLINE))
 (13 13 (:REWRITE FOLD-CONSTS-IN-+))
 (13 13 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (4 4 (:TYPE-PRESCRIPTION DEFUNG::TRUE-FROM-X))
 (4 4 (:TYPE-PRESCRIPTION DEFUNG::NOT-TRUE-FROM-NOT-X))
 (3 3 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 (1 1 (:REWRITE O-INFP->NEQ-0))
 )
(TIME-TO-IMPACT
 (4520 37 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (3520 653 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (3369 4 (:DEFINITION STEP-TIME-DOMAIN-DEFINITION))
 (2870 267 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (2760 81 (:DEFINITION LEN))
 (2724 54 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (2672 10 (:REWRITE STEP-TIME-DOMAIN-TRUE))
 (2296 1 (:DEFINITION TIME-TO-IMPACT))
 (502 502 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (324 162 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (312 312 (:REWRITE DEFAULT-CDR))
 (243 243 (:TYPE-PRESCRIPTION LEN))
 (240 240 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (168 21 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (162 162 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (69 69 (:REWRITE DEFAULT-CAR))
 (63 21 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (54 54 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (54 54 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (54 27 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (52 52 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (52 52 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (52 52 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (30 2 (:LINEAR POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (27 27 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (27 27 (:META *META*-BETA-REDUCE-HIDE))
 (26 26 (:REWRITE OPEN-UAV-LIST-FIX))
 (23 5 (:REWRITE POSITIVE-SUM))
 (16 2 (:REWRITE FLIP-ON-EVENTS-INVARIANTS))
 (13 13 (:DEFINITION RETURN-LAST))
 (11 5 (:DEFINITION NATP))
 (10 10 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (8 4 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (8 2 (:REWRITE WF-ENSEMBLE-IMPLIES-ESCORT-CONDITION-FLIP-ON-EVENTS))
 (6 3 (:LINEAR POSP-N))
 (6 2 (:REWRITE ASSOCIATIVITY-OF-+))
 (5 5 (:TYPE-PRESCRIPTION NATP))
 (5 5 (:REWRITE UAV-ID-P-CONSTANT))
 (4 4 (:REWRITE UAV-ID-FIX-CONSTANT))
 (4 4 (:REWRITE T-IMPLIES-NNRAT-P-NNRAT-FIX))
 (3 3 (:TYPE-PRESCRIPTION UAV-P))
 (3 3 (:REWRITE FOLD-CONSTS-IN-+))
 (3 3 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (2 2 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 )
(UAV-ID-EQUIV-1-IMPLIES-EQUAL-TIME-TO-IMPACT
 (12410 50 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (10892 6 (:DEFINITION STEP-TIME-DOMAIN-DEFINITION))
 (10478 1328 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (10398 16 (:DEFINITION |STEP-TIME-test|))
 (9754 16 (:REWRITE DEFUNG::OPEN-TRUE))
 (9464 410 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (8908 12 (:REWRITE STEP-TIME-DOMAIN-TRUE))
 (7962 126 (:DEFINITION LEN))
 (7796 84 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (6382 424 (:DEFINITION UAV-LIST-P))
 (5214 554 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (1642 1642 (:TYPE-PRESCRIPTION WF-ENSEMBLE))
 (1348 428 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (974 974 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (806 806 (:REWRITE DEFAULT-CDR))
 (800 8 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (612 50 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (586 194 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (528 260 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (432 432 (:TYPE-PRESCRIPTION UAV-P))
 (428 428 (:REWRITE DEFAULT-CAR))
 (406 24 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (378 378 (:TYPE-PRESCRIPTION LEN))
 (316 4 (:DEFINITION UAV-LIST-FIX$INLINE))
 (284 260 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (258 258 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (128 128 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (116 4 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (92 78 (:REWRITE OPEN-UAV-LIST-FIX))
 (92 22 (:REWRITE RATIONALP-+))
 (84 84 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (84 84 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (84 42 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (84 42 (:LINEAR POSP-N))
 (72 24 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (64 64 (:REWRITE T-T-IMPLIES-RATIONALP-UAV-LIST-P-NEXT-STEP))
 (56 56 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (56 56 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (56 56 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (48 48 (:TYPE-PRESCRIPTION ESCORT-CONDITION))
 (44 44 (:REWRITE UAV-LIST-FIX-UNDER-UAV-LIST-EQUIV))
 (42 42 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (32 32 (:META *META*-BETA-REDUCE-HIDE))
 (30 6 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (16 16 (:REWRITE NNRAT-EQUIV-OF-NNRAT-FIX))
 (16 16 (:DEFINITION THROW-NONEXEC-ERROR))
 (16 16 (:DEFINITION RETURN-LAST))
 (16 10 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (16 8 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (12 12 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (12 6 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (12 4 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (8 8 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (6 6 (:REWRITE UAV-ID-FIX-CONSTANT))
 (6 6 (:REWRITE OPEN-STEP-TIME-DOMAIN))
 (4 4 (:REWRITE UAV-ID-P-CONSTANT))
 (2 2 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION NATP-UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV-ID-FIX))
 (2 2 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 (1 1 (:REWRITE UAV-ID-EQUIV-TO-DOUBLE-CONTAINMENT))
 )
(NNRAT-EQUIV-2-IMPLIES-EQUAL-TIME-TO-IMPACT
 (12410 50 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (10892 6 (:DEFINITION STEP-TIME-DOMAIN-DEFINITION))
 (10478 1328 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (10398 16 (:DEFINITION |STEP-TIME-test|))
 (9754 16 (:REWRITE DEFUNG::OPEN-TRUE))
 (9464 410 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (8908 12 (:REWRITE STEP-TIME-DOMAIN-TRUE))
 (7962 126 (:DEFINITION LEN))
 (7796 84 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (6382 424 (:DEFINITION UAV-LIST-P))
 (5214 554 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (1642 1642 (:TYPE-PRESCRIPTION WF-ENSEMBLE))
 (1348 428 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (974 974 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (806 806 (:REWRITE DEFAULT-CDR))
 (800 8 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (612 50 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (586 194 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (528 260 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (432 432 (:TYPE-PRESCRIPTION UAV-P))
 (428 428 (:REWRITE DEFAULT-CAR))
 (406 24 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (378 378 (:TYPE-PRESCRIPTION LEN))
 (316 4 (:DEFINITION UAV-LIST-FIX$INLINE))
 (284 260 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (258 258 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (128 128 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (116 4 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (92 78 (:REWRITE OPEN-UAV-LIST-FIX))
 (92 22 (:REWRITE RATIONALP-+))
 (84 84 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (84 84 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (84 42 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (84 42 (:LINEAR POSP-N))
 (72 24 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (64 64 (:REWRITE T-T-IMPLIES-RATIONALP-UAV-LIST-P-NEXT-STEP))
 (56 56 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (56 56 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (56 56 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (48 48 (:TYPE-PRESCRIPTION ESCORT-CONDITION))
 (44 44 (:REWRITE UAV-LIST-FIX-UNDER-UAV-LIST-EQUIV))
 (42 42 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (30 6 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (16 16 (:REWRITE NNRAT-EQUIV-OF-NNRAT-FIX))
 (16 16 (:DEFINITION THROW-NONEXEC-ERROR))
 (16 16 (:DEFINITION RETURN-LAST))
 (16 10 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (16 8 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (12 12 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (12 6 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (12 4 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (8 8 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (6 6 (:REWRITE UAV-ID-FIX-CONSTANT))
 (6 6 (:REWRITE OPEN-STEP-TIME-DOMAIN))
 (4 4 (:REWRITE UAV-ID-P-CONSTANT))
 (2 2 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION NATP-UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV-ID-FIX))
 (2 2 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 )
(UAV-LIST-EQUIV-3-IMPLIES-EQUAL-TIME-TO-IMPACT
 (12410 50 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (10892 6 (:DEFINITION STEP-TIME-DOMAIN-DEFINITION))
 (10478 1328 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (10398 16 (:DEFINITION |STEP-TIME-test|))
 (9754 16 (:REWRITE DEFUNG::OPEN-TRUE))
 (9464 410 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (8908 12 (:REWRITE STEP-TIME-DOMAIN-TRUE))
 (7962 126 (:DEFINITION LEN))
 (7796 84 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (6382 424 (:DEFINITION UAV-LIST-P))
 (5214 554 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (1642 1642 (:TYPE-PRESCRIPTION WF-ENSEMBLE))
 (1348 428 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (974 974 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (808 808 (:REWRITE DEFAULT-CDR))
 (800 8 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (612 50 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (586 194 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (528 260 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (432 432 (:TYPE-PRESCRIPTION UAV-P))
 (430 430 (:REWRITE DEFAULT-CAR))
 (406 24 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (378 378 (:TYPE-PRESCRIPTION LEN))
 (316 4 (:DEFINITION UAV-LIST-FIX$INLINE))
 (284 260 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (258 258 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (128 128 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (116 4 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (92 78 (:REWRITE OPEN-UAV-LIST-FIX))
 (92 22 (:REWRITE RATIONALP-+))
 (84 84 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (84 84 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (84 42 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (84 42 (:LINEAR POSP-N))
 (72 24 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (64 64 (:REWRITE T-T-IMPLIES-RATIONALP-UAV-LIST-P-NEXT-STEP))
 (56 56 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (56 56 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (56 56 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (48 48 (:TYPE-PRESCRIPTION ESCORT-CONDITION))
 (44 44 (:REWRITE UAV-LIST-FIX-UNDER-UAV-LIST-EQUIV))
 (42 42 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (32 32 (:META *META*-BETA-REDUCE-HIDE))
 (30 6 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (16 16 (:REWRITE NNRAT-EQUIV-OF-NNRAT-FIX))
 (16 16 (:DEFINITION THROW-NONEXEC-ERROR))
 (16 16 (:DEFINITION RETURN-LAST))
 (16 10 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (16 8 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (12 12 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (12 6 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (12 4 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (8 8 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (6 6 (:REWRITE UAV-ID-FIX-CONSTANT))
 (6 6 (:REWRITE OPEN-STEP-TIME-DOMAIN))
 (6 1 (:DEFINITION OPEN-UAV-LIST-EQUIV))
 (4 4 (:REWRITE UAV-ID-P-CONSTANT))
 (2 2 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION NATP-UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV-ID-FIX))
 (2 2 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 (1 1 (:REWRITE UAV-EXTENSIONALITY-REWRITE))
 )
(LTE-TIME-TO-IMPACT
 (27758 142 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (23628 3089 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (22609 6 (:DEFINITION STEP-TIME-MEASURE-DEFINITION))
 (21145 1069 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (17446 198 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (16947 297 (:DEFINITION LEN))
 (14778 980 (:DEFINITION UAV-LIST-P))
 (11171 1299 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (3294 1002 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (2257 2257 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (1893 1893 (:REWRITE DEFAULT-CDR))
 (1886 90 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (1738 22 (:DEFINITION UAV-LIST-FIX$INLINE))
 (1206 600 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (1024 1024 (:TYPE-PRESCRIPTION UAV-P))
 (1002 1002 (:REWRITE DEFAULT-CAR))
 (891 891 (:TYPE-PRESCRIPTION LEN))
 (638 22 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (618 600 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (594 594 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (558 21 (:LINEAR POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (500 58 (:REWRITE POSITIVE-SUM))
 (466 6 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (412 412 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (411 21 (:REWRITE FLIP-ON-EVENTS-INVARIANTS))
 (305 48 (:DEFINITION NATP))
 (270 90 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (198 198 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (198 198 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (198 190 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (198 99 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (198 99 (:LINEAR POSP-N))
 (190 190 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (190 190 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (128 128 (:REWRITE OPEN-UAV-LIST-FIX))
 (99 99 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (84 21 (:REWRITE WF-ENSEMBLE-IMPLIES-ESCORT-CONDITION-FLIP-ON-EVENTS))
 (48 48 (:TYPE-PRESCRIPTION NATP))
 (35 3 (:REWRITE O<=-O-FINP-DEF))
 (26 26 (:REWRITE UAV-LIST-P-OF-UAV-LIST-FIX))
 (26 26 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (21 21 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (15 5 (:REWRITE ASSOCIATIVITY-OF-+))
 (12 6 (:REWRITE RATIONALP-+))
 (12 6 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (10 10 (:REWRITE FOLD-CONSTS-IN-+))
 (10 10 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (10 2 (:REWRITE O-FIRST-EXPT-<))
 (8 3 (:REWRITE AC-<))
 (6 6 (:TYPE-PRESCRIPTION DEFUNG::TRUE-FROM-X))
 (6 6 (:TYPE-PRESCRIPTION DEFUNG::NOT-TRUE-FROM-NOT-X))
 (6 6 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (6 3 (:REWRITE O-INFP-O-FINP-O<=))
 (6 3 (:REWRITE O-FIRST-EXPT-DEF-O-FINP))
 (3 3 (:REWRITE |a < b & b < c  =>  a < c|))
 (3 2 (:REWRITE O-FIRST-COEFF-<))
 )
(T-T-T-IMPLIES-BOOLEANP-LTE-TIME-TO-IMPACT)
(LTE-TIME-TO-IMPACT
 (38 38 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (2 2 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 )
(UAV-ID-EQUIV-1-IMPLIES-EQUAL-LTE-TIME-TO-IMPACT
 (12404 44 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (10892 6 (:DEFINITION STEP-TIME-DOMAIN-DEFINITION))
 (10478 1328 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (10398 16 (:DEFINITION |STEP-TIME-test|))
 (9754 16 (:REWRITE DEFUNG::OPEN-TRUE))
 (9464 410 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (8908 12 (:REWRITE STEP-TIME-DOMAIN-TRUE))
 (7962 126 (:DEFINITION LEN))
 (7796 84 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (6382 424 (:DEFINITION UAV-LIST-P))
 (5214 554 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (1642 1642 (:TYPE-PRESCRIPTION WF-ENSEMBLE))
 (1348 428 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (974 974 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (806 806 (:REWRITE DEFAULT-CDR))
 (800 8 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (612 50 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (586 194 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (528 260 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (432 432 (:TYPE-PRESCRIPTION UAV-P))
 (428 428 (:REWRITE DEFAULT-CAR))
 (406 24 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (378 378 (:TYPE-PRESCRIPTION LEN))
 (316 4 (:DEFINITION UAV-LIST-FIX$INLINE))
 (284 260 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (258 258 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (128 128 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (116 4 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (92 78 (:REWRITE OPEN-UAV-LIST-FIX))
 (92 22 (:REWRITE RATIONALP-+))
 (84 84 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (84 84 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (84 42 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (84 42 (:LINEAR POSP-N))
 (72 24 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (64 64 (:REWRITE T-T-IMPLIES-RATIONALP-UAV-LIST-P-NEXT-STEP))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (48 48 (:TYPE-PRESCRIPTION ESCORT-CONDITION))
 (44 44 (:REWRITE UAV-LIST-FIX-UNDER-UAV-LIST-EQUIV))
 (42 42 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (32 32 (:META *META*-BETA-REDUCE-HIDE))
 (30 6 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (16 16 (:REWRITE NNRAT-EQUIV-OF-NNRAT-FIX))
 (16 16 (:DEFINITION THROW-NONEXEC-ERROR))
 (16 16 (:DEFINITION RETURN-LAST))
 (16 10 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (16 8 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (12 12 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (12 6 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (12 4 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (8 8 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (6 6 (:REWRITE UAV-ID-FIX-CONSTANT))
 (6 6 (:REWRITE OPEN-STEP-TIME-DOMAIN))
 (4 4 (:REWRITE UAV-ID-P-CONSTANT))
 (2 2 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION NATP-UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV-ID-FIX))
 (2 2 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 (1 1 (:REWRITE UAV-ID-EQUIV-TO-DOUBLE-CONTAINMENT))
 )
(NNRAT-EQUIV-2-IMPLIES-EQUAL-LTE-TIME-TO-IMPACT
 (12404 44 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (10892 6 (:DEFINITION STEP-TIME-DOMAIN-DEFINITION))
 (10478 1328 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (10398 16 (:DEFINITION |STEP-TIME-test|))
 (9754 16 (:REWRITE DEFUNG::OPEN-TRUE))
 (9464 410 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (8908 12 (:REWRITE STEP-TIME-DOMAIN-TRUE))
 (7962 126 (:DEFINITION LEN))
 (7796 84 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (6382 424 (:DEFINITION UAV-LIST-P))
 (5214 554 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (1642 1642 (:TYPE-PRESCRIPTION WF-ENSEMBLE))
 (1348 428 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (974 974 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (806 806 (:REWRITE DEFAULT-CDR))
 (800 8 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (612 50 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (586 194 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (528 260 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (432 432 (:TYPE-PRESCRIPTION UAV-P))
 (428 428 (:REWRITE DEFAULT-CAR))
 (406 24 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (378 378 (:TYPE-PRESCRIPTION LEN))
 (316 4 (:DEFINITION UAV-LIST-FIX$INLINE))
 (284 260 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (258 258 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (128 128 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (116 4 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (92 78 (:REWRITE OPEN-UAV-LIST-FIX))
 (92 22 (:REWRITE RATIONALP-+))
 (84 84 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (84 84 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (84 42 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (84 42 (:LINEAR POSP-N))
 (72 24 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (64 64 (:REWRITE T-T-IMPLIES-RATIONALP-UAV-LIST-P-NEXT-STEP))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (48 48 (:TYPE-PRESCRIPTION ESCORT-CONDITION))
 (44 44 (:REWRITE UAV-LIST-FIX-UNDER-UAV-LIST-EQUIV))
 (42 42 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (30 6 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (16 16 (:REWRITE NNRAT-EQUIV-OF-NNRAT-FIX))
 (16 16 (:DEFINITION THROW-NONEXEC-ERROR))
 (16 16 (:DEFINITION RETURN-LAST))
 (16 10 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (16 8 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (12 12 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (12 6 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (12 4 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (8 8 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (6 6 (:REWRITE UAV-ID-FIX-CONSTANT))
 (6 6 (:REWRITE OPEN-STEP-TIME-DOMAIN))
 (4 4 (:REWRITE UAV-ID-P-CONSTANT))
 (2 2 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION NATP-UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV-ID-FIX))
 (2 2 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 )
(UAV-LIST-EQUIV-3-IMPLIES-EQUAL-LTE-TIME-TO-IMPACT
 (12404 44 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (10892 6 (:DEFINITION STEP-TIME-DOMAIN-DEFINITION))
 (10478 1328 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (10398 16 (:DEFINITION |STEP-TIME-test|))
 (9754 16 (:REWRITE DEFUNG::OPEN-TRUE))
 (9464 410 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (8908 12 (:REWRITE STEP-TIME-DOMAIN-TRUE))
 (7962 126 (:DEFINITION LEN))
 (7796 84 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (6382 424 (:DEFINITION UAV-LIST-P))
 (5214 554 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (1642 1642 (:TYPE-PRESCRIPTION WF-ENSEMBLE))
 (1348 428 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (974 974 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (808 808 (:REWRITE DEFAULT-CDR))
 (800 8 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (612 50 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (586 194 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (528 260 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (432 432 (:TYPE-PRESCRIPTION UAV-P))
 (430 430 (:REWRITE DEFAULT-CAR))
 (406 24 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (378 378 (:TYPE-PRESCRIPTION LEN))
 (316 4 (:DEFINITION UAV-LIST-FIX$INLINE))
 (284 260 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (258 258 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (128 128 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (116 4 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (92 78 (:REWRITE OPEN-UAV-LIST-FIX))
 (92 22 (:REWRITE RATIONALP-+))
 (84 84 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (84 84 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (84 42 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (84 42 (:LINEAR POSP-N))
 (72 24 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (64 64 (:REWRITE T-T-IMPLIES-RATIONALP-UAV-LIST-P-NEXT-STEP))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (48 48 (:TYPE-PRESCRIPTION ESCORT-CONDITION))
 (44 44 (:REWRITE UAV-LIST-FIX-UNDER-UAV-LIST-EQUIV))
 (42 42 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (32 32 (:META *META*-BETA-REDUCE-HIDE))
 (30 6 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (16 16 (:REWRITE NNRAT-EQUIV-OF-NNRAT-FIX))
 (16 16 (:DEFINITION THROW-NONEXEC-ERROR))
 (16 16 (:DEFINITION RETURN-LAST))
 (16 10 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (16 8 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (12 12 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (12 6 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (12 4 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (8 8 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (6 6 (:REWRITE UAV-ID-FIX-CONSTANT))
 (6 6 (:REWRITE OPEN-STEP-TIME-DOMAIN))
 (6 1 (:DEFINITION OPEN-UAV-LIST-EQUIV))
 (4 4 (:REWRITE UAV-ID-P-CONSTANT))
 (2 2 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION NATP-UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV-ID-FIX))
 (2 2 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 (1 1 (:REWRITE UAV-EXTENSIONALITY-REWRITE))
 )
(LT-TIME-TO-IMPACT
 (27758 142 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (23628 3089 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (22609 6 (:DEFINITION STEP-TIME-MEASURE-DEFINITION))
 (21145 1069 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (17446 198 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (16947 297 (:DEFINITION LEN))
 (14778 980 (:DEFINITION UAV-LIST-P))
 (11171 1299 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (3294 1002 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (2257 2257 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (1893 1893 (:REWRITE DEFAULT-CDR))
 (1886 90 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (1738 22 (:DEFINITION UAV-LIST-FIX$INLINE))
 (1206 600 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (1024 1024 (:TYPE-PRESCRIPTION UAV-P))
 (1002 1002 (:REWRITE DEFAULT-CAR))
 (891 891 (:TYPE-PRESCRIPTION LEN))
 (638 22 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (618 600 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (594 594 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (558 21 (:LINEAR POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (500 58 (:REWRITE POSITIVE-SUM))
 (466 6 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (412 412 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (411 21 (:REWRITE FLIP-ON-EVENTS-INVARIANTS))
 (305 48 (:DEFINITION NATP))
 (270 90 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (198 198 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (198 198 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (198 190 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (198 99 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (198 99 (:LINEAR POSP-N))
 (190 190 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (190 190 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (128 128 (:REWRITE OPEN-UAV-LIST-FIX))
 (99 99 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (84 21 (:REWRITE WF-ENSEMBLE-IMPLIES-ESCORT-CONDITION-FLIP-ON-EVENTS))
 (48 48 (:TYPE-PRESCRIPTION NATP))
 (35 3 (:REWRITE O<=-O-FINP-DEF))
 (26 26 (:REWRITE UAV-LIST-P-OF-UAV-LIST-FIX))
 (26 26 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (21 21 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (15 5 (:REWRITE ASSOCIATIVITY-OF-+))
 (12 6 (:REWRITE RATIONALP-+))
 (12 6 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (10 10 (:REWRITE FOLD-CONSTS-IN-+))
 (10 10 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (10 2 (:REWRITE O-FIRST-EXPT-<))
 (8 3 (:REWRITE AC-<))
 (6 6 (:TYPE-PRESCRIPTION DEFUNG::TRUE-FROM-X))
 (6 6 (:TYPE-PRESCRIPTION DEFUNG::NOT-TRUE-FROM-NOT-X))
 (6 6 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (6 3 (:REWRITE O-INFP-O-FINP-O<=))
 (6 3 (:REWRITE O-FIRST-EXPT-DEF-O-FINP))
 (3 3 (:REWRITE |a < b & b < c  =>  a < c|))
 (3 2 (:REWRITE O-FIRST-COEFF-<))
 )
(T-T-T-IMPLIES-BOOLEANP-LT-TIME-TO-IMPACT)
(LT-TIME-TO-IMPACT
 (38 38 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (2 2 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 )
(UAV-ID-EQUIV-1-IMPLIES-EQUAL-LT-TIME-TO-IMPACT
 (12404 44 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (10892 6 (:DEFINITION STEP-TIME-DOMAIN-DEFINITION))
 (10478 1328 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (10398 16 (:DEFINITION |STEP-TIME-test|))
 (9754 16 (:REWRITE DEFUNG::OPEN-TRUE))
 (9464 410 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (8908 12 (:REWRITE STEP-TIME-DOMAIN-TRUE))
 (7962 126 (:DEFINITION LEN))
 (7796 84 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (6382 424 (:DEFINITION UAV-LIST-P))
 (5214 554 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (1642 1642 (:TYPE-PRESCRIPTION WF-ENSEMBLE))
 (1348 428 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (974 974 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (806 806 (:REWRITE DEFAULT-CDR))
 (800 8 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (612 50 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (586 194 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (528 260 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (432 432 (:TYPE-PRESCRIPTION UAV-P))
 (428 428 (:REWRITE DEFAULT-CAR))
 (406 24 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (378 378 (:TYPE-PRESCRIPTION LEN))
 (316 4 (:DEFINITION UAV-LIST-FIX$INLINE))
 (284 260 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (258 258 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (128 128 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (116 4 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (92 78 (:REWRITE OPEN-UAV-LIST-FIX))
 (92 22 (:REWRITE RATIONALP-+))
 (84 84 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (84 84 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (84 42 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (84 42 (:LINEAR POSP-N))
 (72 24 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (64 64 (:REWRITE T-T-IMPLIES-RATIONALP-UAV-LIST-P-NEXT-STEP))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (48 48 (:TYPE-PRESCRIPTION ESCORT-CONDITION))
 (44 44 (:REWRITE UAV-LIST-FIX-UNDER-UAV-LIST-EQUIV))
 (42 42 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (32 32 (:META *META*-BETA-REDUCE-HIDE))
 (30 6 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (16 16 (:REWRITE NNRAT-EQUIV-OF-NNRAT-FIX))
 (16 16 (:DEFINITION THROW-NONEXEC-ERROR))
 (16 16 (:DEFINITION RETURN-LAST))
 (16 10 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (16 8 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (12 12 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (12 6 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (12 4 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (8 8 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (6 6 (:REWRITE UAV-ID-FIX-CONSTANT))
 (6 6 (:REWRITE OPEN-STEP-TIME-DOMAIN))
 (4 4 (:REWRITE UAV-ID-P-CONSTANT))
 (2 2 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION NATP-UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV-ID-FIX))
 (2 2 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 (1 1 (:REWRITE UAV-ID-EQUIV-TO-DOUBLE-CONTAINMENT))
 )
(NNRAT-EQUIV-2-IMPLIES-EQUAL-LT-TIME-TO-IMPACT
 (12404 44 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (10892 6 (:DEFINITION STEP-TIME-DOMAIN-DEFINITION))
 (10478 1328 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (10398 16 (:DEFINITION |STEP-TIME-test|))
 (9754 16 (:REWRITE DEFUNG::OPEN-TRUE))
 (9464 410 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (8908 12 (:REWRITE STEP-TIME-DOMAIN-TRUE))
 (7962 126 (:DEFINITION LEN))
 (7796 84 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (6382 424 (:DEFINITION UAV-LIST-P))
 (5214 554 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (1642 1642 (:TYPE-PRESCRIPTION WF-ENSEMBLE))
 (1348 428 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (974 974 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (806 806 (:REWRITE DEFAULT-CDR))
 (800 8 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (612 50 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (586 194 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (528 260 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (432 432 (:TYPE-PRESCRIPTION UAV-P))
 (428 428 (:REWRITE DEFAULT-CAR))
 (406 24 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (378 378 (:TYPE-PRESCRIPTION LEN))
 (316 4 (:DEFINITION UAV-LIST-FIX$INLINE))
 (284 260 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (258 258 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (128 128 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (116 4 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (92 78 (:REWRITE OPEN-UAV-LIST-FIX))
 (92 22 (:REWRITE RATIONALP-+))
 (84 84 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (84 84 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (84 42 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (84 42 (:LINEAR POSP-N))
 (72 24 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (64 64 (:REWRITE T-T-IMPLIES-RATIONALP-UAV-LIST-P-NEXT-STEP))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (48 48 (:TYPE-PRESCRIPTION ESCORT-CONDITION))
 (44 44 (:REWRITE UAV-LIST-FIX-UNDER-UAV-LIST-EQUIV))
 (42 42 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (30 6 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (16 16 (:REWRITE NNRAT-EQUIV-OF-NNRAT-FIX))
 (16 16 (:DEFINITION THROW-NONEXEC-ERROR))
 (16 16 (:DEFINITION RETURN-LAST))
 (16 10 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (16 8 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (12 12 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (12 6 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (12 4 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (8 8 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (6 6 (:REWRITE UAV-ID-FIX-CONSTANT))
 (6 6 (:REWRITE OPEN-STEP-TIME-DOMAIN))
 (4 4 (:REWRITE UAV-ID-P-CONSTANT))
 (2 2 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION NATP-UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV-ID-FIX))
 (2 2 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 )
(UAV-LIST-EQUIV-3-IMPLIES-EQUAL-LT-TIME-TO-IMPACT
 (12404 44 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (10892 6 (:DEFINITION STEP-TIME-DOMAIN-DEFINITION))
 (10478 1328 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (10398 16 (:DEFINITION |STEP-TIME-test|))
 (9754 16 (:REWRITE DEFUNG::OPEN-TRUE))
 (9464 410 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (8908 12 (:REWRITE STEP-TIME-DOMAIN-TRUE))
 (7962 126 (:DEFINITION LEN))
 (7796 84 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (6382 424 (:DEFINITION UAV-LIST-P))
 (5214 554 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (1642 1642 (:TYPE-PRESCRIPTION WF-ENSEMBLE))
 (1348 428 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (974 974 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (808 808 (:REWRITE DEFAULT-CDR))
 (800 8 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (612 50 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (586 194 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (528 260 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (432 432 (:TYPE-PRESCRIPTION UAV-P))
 (430 430 (:REWRITE DEFAULT-CAR))
 (406 24 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (378 378 (:TYPE-PRESCRIPTION LEN))
 (316 4 (:DEFINITION UAV-LIST-FIX$INLINE))
 (284 260 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (258 258 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (128 128 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (116 4 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (92 78 (:REWRITE OPEN-UAV-LIST-FIX))
 (92 22 (:REWRITE RATIONALP-+))
 (84 84 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (84 84 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (84 42 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (84 42 (:LINEAR POSP-N))
 (72 24 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (64 64 (:REWRITE T-T-IMPLIES-RATIONALP-UAV-LIST-P-NEXT-STEP))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (48 48 (:TYPE-PRESCRIPTION ESCORT-CONDITION))
 (44 44 (:REWRITE UAV-LIST-FIX-UNDER-UAV-LIST-EQUIV))
 (42 42 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (32 32 (:META *META*-BETA-REDUCE-HIDE))
 (30 6 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (16 16 (:REWRITE NNRAT-EQUIV-OF-NNRAT-FIX))
 (16 16 (:DEFINITION THROW-NONEXEC-ERROR))
 (16 16 (:DEFINITION RETURN-LAST))
 (16 10 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (16 8 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (12 12 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (12 6 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (12 4 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (8 8 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (6 6 (:REWRITE UAV-ID-FIX-CONSTANT))
 (6 6 (:REWRITE OPEN-STEP-TIME-DOMAIN))
 (6 1 (:DEFINITION OPEN-UAV-LIST-EQUIV))
 (4 4 (:REWRITE UAV-ID-P-CONSTANT))
 (2 2 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION NATP-UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV-ID-FIX))
 (2 2 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 (1 1 (:REWRITE UAV-EXTENSIONALITY-REWRITE))
 )
(TIME-TO-IMPACT-UPPER-BOUND
 (27984 424 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (26499 2711 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (25607 783 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (25534 951 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (23856 111 (:DEFINITION LEN))
 (20446 302 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (13671 816 (:DEFINITION UAV-LIST-P))
 (6416 12 (:DEFINITION UAV-LIST-FIX$INLINE))
 (2511 858 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (2124 2100 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (1798 53 (:REWRITE OPEN-UAV-LIST-FIX))
 (1663 1587 (:REWRITE DEFAULT-CDR))
 (1367 1367 (:TYPE-PRESCRIPTION LEN))
 (1208 580 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (964 896 (:REWRITE DEFAULT-CAR))
 (893 151 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (870 870 (:TYPE-PRESCRIPTION UAV-P))
 (800 8 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (648 42 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (612 580 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (421 175 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (302 302 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (302 302 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (292 292 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (210 105 (:LINEAR POSP-N))
 (201 181 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (181 181 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (181 181 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (151 151 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (150 18 (:REWRITE FLIP-ON-EVENTS-INVARIANTS))
 (136 68 (:REWRITE CONS-CAR-CDR))
 (120 4 (:REWRITE NOT-IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL-INVARIANT-AWKWARD))
 (110 20 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (60 2 (:LINEAR POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (54 18 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (51 51 (:REWRITE UAV-LISTP-UPDATE-LOCATION))
 (48 4 (:REWRITE LEN-UPDATE-LOCATION-ALL))
 (40 20 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (38 38 (:REWRITE UAV-FIX-UNDER-UAV-EQUIV))
 (36 18 (:REWRITE WF-ENSEMBLE-IMPLIES-ESCORT-CONDITION-FLIP-ON-EVENTS))
 (28 28 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (26 26 (:TYPE-PRESCRIPTION NNRAT-FIX-FAST$INLINE))
 (20 20 (:REWRITE UAV-ID-FIX-CONSTANT))
 (20 4 (:REWRITE IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL-STRONG))
 (20 4 (:REWRITE IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL))
 (20 4 (:REWRITE IMMINENT-EVENT-IMPLIES-IMPACT-EVENT))
 (18 18 (:REWRITE UAV-ID-P-CONSTANT))
 (16 8 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (12 4 (:REWRITE ASSOCIATIVITY-OF-+))
 (8 8 (:TYPE-PRESCRIPTION EXISTS-UAV-WITH-EVENT))
 (8 8 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (8 8 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (4 4 (:REWRITE LEN-FLIP-ON-EVENTS))
 (4 4 (:REWRITE FOLD-CONSTS-IN-+))
 (4 4 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (4 4 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (2 2 (:REWRITE T-IMPLIES-NNRAT-P-NNRAT-FIX))
 (2 2 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (1 1 (:REWRITE O-INFP->NEQ-0))
 )
(EQUAL-ALWAYS-SMALLEST-IS-LTE-ALWAYS-SMALLEST
 (17 17 (:TYPE-PRESCRIPTION NNRAT-FIX))
 )
(TIME-TO-IMPACT-UPPER-BOUND-STRICT
 (50434 141 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (28975 1392 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (28891 34 (:REWRITE NOT-IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL-INVARIANT-AWKWARD))
 (27902 372 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (27556 227 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (26586 24 (:DEFINITION LEN))
 (24323 434 (:REWRITE EVENT-FOR-UAV-N))
 (18768 272 (:REWRITE UAV->DIRECTION-FLIP-UAV))
 (18388 42 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (16443 272 (:REWRITE ITH-UAV-FLIP-ON-EVENTS))
 (16171 272 (:REWRITE NOT-EVENT-IMPLIES-FLIP-UAV-ID))
 (13600 272 (:REWRITE TIMES-DIRECTION))
 (12423 434 (:REWRITE EVENT-FOR-UAV-0))
 (12198 434 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (12198 434 (:REWRITE EVENT-FOR-UAV-LEFT))
 (8398 474 (:REWRITE DEFUNG::NATP-FIX))
 (7956 408 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (7519 174 (:DEFINITION NATP))
 (7127 7127 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (6850 702 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (4974 1638 (:REWRITE |(< (- x) c)|))
 (4141 12 (:DEFINITION UAV-LIST-FIX$INLINE))
 (3382 1646 (:REWRITE DEFAULT-MINUS))
 (3026 136 (:REWRITE POSITIVE-TO-ONE))
 (3011 2368 (:REWRITE DEFAULT-PLUS-1))
 (2506 1640 (:REWRITE DEFAULT-LESS-THAN-1))
 (2392 1196 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (2359 1750 (:REWRITE DEFAULT-TIMES-2))
 (1862 434 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (1849 833 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (1750 1750 (:REWRITE DEFAULT-TIMES-1))
 (1644 1644 (:REWRITE THE-FLOOR-BELOW))
 (1644 1644 (:REWRITE THE-FLOOR-ABOVE))
 (1640 1640 (:REWRITE REDUCE-RATIONAL-MULTIPLICATIVE-CONSTANT-<))
 (1640 1640 (:REWRITE REDUCE-MULTIPLICATIVE-CONSTANT-<))
 (1640 1640 (:REWRITE REDUCE-ADDITIVE-CONSTANT-<))
 (1638 1638 (:REWRITE |(< c (/ x)) positive c --- present in goal|))
 (1638 1638 (:REWRITE |(< c (/ x)) positive c --- obj t or nil|))
 (1638 1638 (:REWRITE |(< c (/ x)) negative c --- present in goal|))
 (1638 1638 (:REWRITE |(< c (/ x)) negative c --- obj t or nil|))
 (1638 1638 (:REWRITE |(< c (- x))|))
 (1638 1638 (:REWRITE |(< (/ x) c) positive c --- present in goal|))
 (1638 1638 (:REWRITE |(< (/ x) c) positive c --- obj t or nil|))
 (1638 1638 (:REWRITE |(< (/ x) c) negative c --- present in goal|))
 (1638 1638 (:REWRITE |(< (/ x) c) negative c --- obj t or nil|))
 (1638 1638 (:REWRITE |(< (/ x) (/ y))|))
 (1638 1638 (:REWRITE |(< (- x) (- y))|))
 (1547 1547 (:REWRITE INTEGERP-<-CONSTANT))
 (1547 1547 (:REWRITE CONSTANT-<-INTEGERP))
 (1421 628 (:REWRITE INTEGERP-MINUS-X))
 (1353 839 (:REWRITE SIMPLIFY-PRODUCTS-GATHER-EXPONENTS-EQUAL))
 (1146 1146 (:REWRITE NORMALIZE-FACTORS-GATHER-EXPONENTS))
 (1146 1146 (:REWRITE |(* (- x) y)|))
 (1106 272 (:REWRITE RATIONALP-X))
 (1016 64 (:DEFINITION UAV-LIST-P))
 (965 564 (:REWRITE DEFAULT-CDR))
 (929 929 (:REWRITE REMOVE-WEAK-INEQUALITIES))
 (896 833 (:REWRITE SIMPLIFY-SUMS-EQUAL))
 (839 839 (:REWRITE REDUCE-MULTIPLICATIVE-CONSTANT-EQUAL))
 (839 839 (:REWRITE REDUCE-ADDITIVE-CONSTANT-EQUAL))
 (839 839 (:REWRITE EQUAL-OF-PREDICATES-REWRITE))
 (839 839 (:REWRITE |(equal c (/ x))|))
 (839 839 (:REWRITE |(equal c (- x))|))
 (839 839 (:REWRITE |(equal (/ x) c)|))
 (839 839 (:REWRITE |(equal (/ x) (/ y))|))
 (839 839 (:REWRITE |(equal (- x) c)|))
 (839 839 (:REWRITE |(equal (- x) (- y))|))
 (811 772 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (802 802 (:REWRITE NORMALIZE-TERMS-SUCH-AS-A/A+B-+-B/A+B))
 (772 772 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (772 772 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (760 418 (:REWRITE DEFAULT-CAR))
 (649 649 (:REWRITE |(< (/ x) 0)|))
 (649 649 (:REWRITE |(< (* x y) 0)|))
 (594 34 (:REWRITE CHASING-NEIGHBOR-IS-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (545 545 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-<-0-RATIONAL-REMAINDER))
 (545 545 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-<-0-RATIONAL-COMMON))
 (544 544 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (537 537 (:REWRITE REDUCE-INTEGERP-+))
 (537 537 (:META META-INTEGERP-CORRECT))
 (537 102 (:REWRITE MIN-TIME-TO-IMPACT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (515 33 (:REWRITE |(+ (if a b c) x)|))
 (510 282 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (510 102 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY))
 (487 487 (:REWRITE |(< 0 (* x y))|))
 (485 485 (:REWRITE |(< 0 (/ x))|))
 (483 327 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (480 122 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (476 170 (:REWRITE IMPLIES-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (425 412 (:TYPE-PRESCRIPTION BUBBLE-DOWN))
 (408 408 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (394 394 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-0-<-AX+BX-RATIONAL-REMAINDER))
 (394 394 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-0-<-AX+BX-RATIONAL-COMMON))
 (348 102 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY-TOO))
 (340 102 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (323 34 (:REWRITE IMMINENT-EVENT-IMPLIES-IMPACT-EVENT))
 (310 310 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (288 144 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (277 91 (:REWRITE POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (272 272 (:REWRITE REDUCE-RATIONALP-+))
 (272 272 (:REWRITE REDUCE-RATIONALP-*))
 (272 272 (:REWRITE RATIONALP-MINUS-X))
 (272 272 (:META META-RATIONALP-CORRECT))
 (264 88 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (181 122 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (174 174 (:TYPE-PRESCRIPTION NATP))
 (174 42 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (171 171 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-=-0))
 (157 34 (:REWRITE LESS-THAN-LEAST-IMPLIES-LESS-THAN-ANY))
 (152 152 (:REWRITE UAV-FIX-UNDER-UAV-EQUIV))
 (147 9 (:REWRITE UPDATE-LOCATION-ALL-ZERO))
 (144 144 (:REWRITE |(< (if a b c) x)|))
 (142 142 (:REWRITE UAV-ID-P-CONSTANT))
 (136 136 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (136 136 (:REWRITE |(< x (if a b c))|))
 (108 108 (:REWRITE UAV-ID-FIX-CONSTANT))
 (105 21 (:REWRITE NOT-EQUAL-ALWAYS-SMALLEST-MEANS-GREATER))
 (102 34 (:REWRITE IMPENDING-ESCORT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (92 8 (:REWRITE ACL2-NUMBERP-X))
 (91 91 (:REWRITE |(< (* x y) 0) rationalp (* x y)|))
 (76 76 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (76 76 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (68 68 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (61 61 (:REWRITE |(+ c (+ d x))|))
 (55 55 (:REWRITE |(< y (+ (- c) x))|))
 (55 55 (:REWRITE |(< x (+ c/d y))|))
 (54 54 (:REWRITE |(< (+ c/d x) y)|))
 (54 54 (:REWRITE |(< (+ (- c) x) y)|))
 (52 52 (:REWRITE T-IMPLIES-NNRAT-P-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (45 34 (:REWRITE LEN-UPDATE-LOCATION-ALL))
 (42 42 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (40 40 (:REWRITE FOLD-CONSTS-IN-+))
 (40 40 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (34 34 (:TYPE-PRESCRIPTION CHASING-NEIGHBOR))
 (34 34 (:REWRITE ZOOLA))
 (30 30 (:REWRITE T-IMPLIES-NNRAT-P-NNRAT-FIX))
 (28 28 (:REWRITE FLIP-ON-EVENTS-INVARIANTS))
 (28 14 (:LINEAR POSP-N))
 (26 26 (:TYPE-PRESCRIPTION NNRAT-FIX-FAST$INLINE))
 (25 25 (:REWRITE LEN-FLIP-ON-EVENTS))
 (23 23 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (21 21 (:REWRITE BUBBLE-DOWN-+-MATCH-3))
 (16 16 (:REWRITE ESCORT-CONDITION-NECC))
 (12 12 (:REWRITE |(equal (+ (- c) x) y)|))
 (4 4 (:REWRITE INTEGERP-/))
 (2 2 (:REWRITE |(<= (/ x) y) with (< x 0)|))
 (2 2 (:REWRITE |(<= (/ x) y) with (< 0 x)|))
 (2 2 (:REWRITE |(< x (/ y)) with (< y 0)|))
 )
(NOT-GTE-TIME-TO-IMPACT-IMPLIES-NO-INCREMENTAL-IMPACT
 (61224 739 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (56870 6350 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (53794 1978 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (48909 351 (:DEFINITION LEN))
 (42798 570 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (32883 2037 (:DEFINITION UAV-LIST-P))
 (14491 45 (:DEFINITION UAV-LIST-FIX$INLINE))
 (5115 4995 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (4042 3854 (:REWRITE DEFAULT-CDR))
 (3260 37 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (2790 1283 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (2605 2605 (:TYPE-PRESCRIPTION LEN))
 (2585 1113 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (2464 316 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (2378 2230 (:REWRITE DEFAULT-CAR))
 (1434 1283 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (916 361 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (570 570 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (570 570 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (556 556 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (497 89 (:REWRITE FLIP-ON-EVENTS-INVARIANTS))
 (437 72 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (418 209 (:LINEAR POSP-N))
 (415 20 (:REWRITE NOT-IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL-INVARIANT-AWKWARD))
 (400 326 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (326 326 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (326 326 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (285 285 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (240 20 (:REWRITE LEN-UPDATE-LOCATION-ALL))
 (225 9 (:LINEAR POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (177 59 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (176 89 (:REWRITE WF-ENSEMBLE-IMPLIES-ESCORT-CONDITION-FLIP-ON-EVENTS))
 (144 72 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (100 20 (:REWRITE IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL-STRONG))
 (100 20 (:REWRITE IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL))
 (100 20 (:REWRITE IMMINENT-EVENT-IMPLIES-IMPACT-EVENT))
 (74 37 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (72 72 (:REWRITE UAV-ID-FIX-CONSTANT))
 (69 69 (:REWRITE UAV-ID-P-CONSTANT))
 (64 64 (:REWRITE UAV-FIX-UNDER-UAV-EQUIV))
 (42 42 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (40 40 (:TYPE-PRESCRIPTION EXISTS-UAV-WITH-EVENT))
 (37 37 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (35 5 (:REWRITE POSITIVE-SUM))
 (34 34 (:TYPE-PRESCRIPTION NNRAT-FIX-FAST$INLINE))
 (20 20 (:REWRITE LEN-FLIP-ON-EVENTS))
 (20 20 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (20 5 (:DEFINITION NATP))
 (15 15 (:REWRITE FOLD-CONSTS-IN-+))
 (15 15 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (12 12 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (10 10 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 (9 9 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (7 3 (:REWRITE UPDATE-LOCATION-ALL-ZERO))
 (5 5 (:TYPE-PRESCRIPTION NATP))
 (1 1 (:REWRITE O-INFP->NEQ-0))
 )
(GTE-AND-LTE-IMPLIES-EQUAL-TIME-TO-IMPACT
 (125975 1868 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (117352 12942 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (110360 4181 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (99282 744 (:DEFINITION LEN))
 (86580 1096 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (66939 4172 (:DEFINITION UAV-LIST-P))
 (28744 115 (:DEFINITION UAV-LIST-FIX$INLINE))
 (10393 10135 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (8534 8007 (:REWRITE DEFAULT-CDR))
 (8284 89 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (5898 940 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (5620 2563 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (5169 4728 (:REWRITE DEFAULT-CAR))
 (5018 5018 (:TYPE-PRESCRIPTION LEN))
 (2916 2563 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (1943 761 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (1143 192 (:REWRITE FLIP-ON-EVENTS-INVARIANTS))
 (1096 1096 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (1096 1096 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (1006 160 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (998 814 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (981 43 (:REWRITE NOT-IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL-INVARIANT-AWKWARD))
 (814 814 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (814 814 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (806 403 (:LINEAR POSP-N))
 (694 694 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (548 548 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (516 43 (:REWRITE LEN-UPDATE-LOCATION-ALL))
 (474 20 (:LINEAR POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (390 130 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (381 192 (:REWRITE WF-ENSEMBLE-IMPLIES-ESCORT-CONDITION-FLIP-ON-EVENTS))
 (320 160 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (216 216 (:REWRITE UAV-FIX-UNDER-UAV-EQUIV))
 (215 43 (:REWRITE IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL-STRONG))
 (215 43 (:REWRITE IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL))
 (215 43 (:REWRITE IMMINENT-EVENT-IMPLIES-IMPACT-EVENT))
 (178 89 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (174 174 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (160 160 (:REWRITE UAV-ID-FIX-CONSTANT))
 (158 158 (:REWRITE UAV-ID-P-CONSTANT))
 (98 14 (:REWRITE POSITIVE-SUM))
 (89 89 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (86 86 (:TYPE-PRESCRIPTION EXISTS-UAV-WITH-EVENT))
 (56 14 (:DEFINITION NATP))
 (43 43 (:REWRITE LEN-FLIP-ON-EVENTS))
 (43 43 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (42 42 (:TYPE-PRESCRIPTION NNRAT-FIX-FAST$INLINE))
 (34 34 (:REWRITE T-IMPLIES-NNRAT-P-NNRAT-FIX))
 (31 31 (:REWRITE FOLD-CONSTS-IN-+))
 (31 31 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (28 28 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 (20 20 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (20 4 (:REWRITE UPDATE-LOCATION-ALL-ZERO))
 (14 14 (:TYPE-PRESCRIPTION NATP))
 (11 11 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 )
(LT-TIME-TO-IMPACT-NOT-IMPENDING-IMPACT
 (5040 56 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (3044 410 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (2898 90 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (2711 12 (:REWRITE NOT-IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL-INVARIANT-AWKWARD))
 (2370 3 (:DEFINITION LEN))
 (2236 136 (:REWRITE EVENT-FOR-UAV-N))
 (1664 1664 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (1600 80 (:REWRITE UAV->DIRECTION-FLIP-UAV))
 (1500 80 (:REWRITE ITH-UAV-FLIP-ON-EVENTS))
 (1420 80 (:REWRITE NOT-EVENT-IMPLIES-FLIP-UAV-ID))
 (1346 186 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (1216 136 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (1216 136 (:REWRITE EVENT-FOR-UAV-LEFT))
 (1216 136 (:REWRITE EVENT-FOR-UAV-0))
 (1128 12 (:REWRITE IMMINENT-EVENT-IMPLIES-IMPACT-EVENT))
 (960 128 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (740 370 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (640 80 (:REWRITE TIMES-DIRECTION))
 (617 3 (:DEFINITION UAV-LIST-FIX$INLINE))
 (600 253 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (480 48 (:REWRITE POSITIVE-TO-ONE))
 (472 4 (:REWRITE IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL))
 (399 24 (:DEFINITION UAV-LIST-P))
 (367 311 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (348 4 (:LINEAR NNEG-MIN-TIME-TO-IMPACT-FOR-UAV))
 (328 136 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (311 311 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (311 311 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (296 180 (:REWRITE DEFAULT-CDR))
 (284 70 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (228 32 (:REWRITE MIN-TIME-TO-IMPACT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (220 34 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (187 107 (:REWRITE DEFAULT-CAR))
 (180 180 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (176 176 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (174 102 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (174 42 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (169 105 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (162 90 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (152 32 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY))
 (148 36 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (148 8 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLIES-LT-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (136 8 (:REWRITE CHASING-NEIGHBOR-IS-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (128 128 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (124 44 (:REWRITE IMPLIES-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (109 37 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (106 70 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (102 102 (:TYPE-PRESCRIPTION UAV-ID-P))
 (100 32 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY-TOO))
 (100 12 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-LT-CHAINING))
 (78 26 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (53 53 (:TYPE-PRESCRIPTION NNRAT-FIX-FAST$INLINE))
 (50 50 (:REWRITE UAV-ID-P-CONSTANT))
 (48 48 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (42 42 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (36 18 (:LINEAR POSP-N))
 (36 8 (:REWRITE LESS-THAN-LEAST-IMPLIES-LESS-THAN-ANY))
 (34 34 (:REWRITE UAV-ID-FIX-CONSTANT))
 (32 32 (:REWRITE UAV-FIX-UNDER-UAV-EQUIV))
 (28 28 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (28 4 (:REWRITE POSITIVE-SUM))
 (25 25 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (24 24 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 (24 24 (:REWRITE LEN-FLIP-ON-EVENTS))
 (24 8 (:REWRITE IMPENDING-ESCORT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (20 20 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (16 16 (:REWRITE T-IMPLIES-NNRAT-P-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (16 4 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-2))
 (16 4 (:LINEAR POSITIVE-MIN-TIME-TO-IMPACT-FOR-UAV))
 (16 4 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST))
 (16 4 (:DEFINITION NATP))
 (15 15 (:REWRITE ESCORT-CONDITION-NECC))
 (14 14 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (12 12 (:REWRITE ZOOLA))
 (12 12 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-CHAINING))
 (12 12 (:REWRITE LEN-UPDATE-LOCATION-ALL))
 (8 8 (:TYPE-PRESCRIPTION CHASING-NEIGHBOR))
 (8 8 (:REWRITE FOLD-CONSTS-IN-+))
 (8 8 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (8 4 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-1))
 (5 1 (:REWRITE NOT-EQUAL-ALWAYS-SMALLEST-MEANS-GREATER))
 (4 4 (:TYPE-PRESCRIPTION NATP))
 (4 4 (:REWRITE UPDATE-LOCATION-ALL-ZERO))
 (4 4 (:DEFINITION RETURN-LAST))
 (1 1 (:REWRITE O-INFP->NEQ-0))
 )
(ITH-UAV-STEP-TIME-LTE-TIME-TO-IMPACT
 (44882 294 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (33157 123 (:DEFINITION STEP-TIME-DEFINITION))
 (26912 94 (:REWRITE NOT-IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL-INVARIANT-AWKWARD))
 (21680 989 (:REWRITE EVENT-FOR-UAV-N))
 (12564 989 (:REWRITE EVENT-FOR-UAV-0))
 (11804 989 (:REWRITE EVENT-FOR-UAV-LEFT))
 (11394 1300 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (10777 989 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (10298 721 (:REWRITE NOT-EVENT-IMPLIES-FLIP-UAV-ID))
 (8015 2181 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (7494 3747 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (6073 123 (:DEFINITION |STEP-TIME-base|))
 (6058 340 (:LINEAR LINEAR-BOUNDS-ON-UAV-ID-FIX))
 (5756 2566 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (5280 78 (:DEFINITION =))
 (5223 859 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (3940 397 (:REWRITE POSITIVE-TO-ONE))
 (2834 1477 (:REWRITE DEFAULT-CDR))
 (2725 989 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (2679 984 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (2604 2340 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (2466 3 (:REWRITE IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL))
 (2405 477 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (2043 1948 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (1984 994 (:REWRITE DEFAULT-CAR))
 (1948 1948 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (1948 1948 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (1932 152 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (1657 98 (:DEFINITION UAV-LIST-P))
 (1587 529 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (1575 94 (:REWRITE IMMINENT-EVENT-IMPLIES-IMPACT-EVENT))
 (1365 91 (:REWRITE CHASING-NEIGHBOR-IS-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (1036 294 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (939 3 (:DEFINITION LEN))
 (922 152 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (872 872 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (841 477 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (795 6 (:LINEAR NNEG-MIN-TIME-TO-IMPACT-FOR-UAV))
 (780 3 (:LINEAR FLIP-ON-EVENTS-IS-CLOSER-TO-EVENT-LINEAR))
 (774 6 (:LINEAR POSITIVE-MIN-TIME-TO-IMPACT-FOR-UAV))
 (763 763 (:REWRITE UAV-ID-P-CONSTANT))
 (728 273 (:REWRITE IMPLIES-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (719 719 (:REWRITE UAV-ID-FIX-CONSTANT))
 (676 288 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY-TOO))
 (676 288 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY))
 (676 288 (:REWRITE MIN-TIME-TO-IMPACT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (667 434 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (633 431 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (540 180 (:REWRITE UPDATE-LOCATION-ALL-ZERO))
 (501 4 (:DEFINITION UAV-LIST-FIX$INLINE))
 (500 83 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-RIGHT))
 (484 22 (:REWRITE RATIONALP-+))
 (476 83 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-LEFT))
 (455 91 (:REWRITE LESS-THAN-LEAST-IMPLIES-LESS-THAN-ANY))
 (294 294 (:REWRITE FOLD-CONSTS-IN-+))
 (294 294 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (277 4 (:REWRITE T-WF-ENSEMBLE-IMPLIES-WF-ENSEMBLE-STEP-TIME))
 (273 91 (:REWRITE IMPENDING-ESCORT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (252 28 (:REWRITE EQUAL-SUM-TO-UAV-ID-EQUIV))
 (248 220 (:REWRITE LEN-UPDATE-LOCATION-ALL))
 (246 246 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (235 47 (:REWRITE NOT-EQUAL-ALWAYS-SMALLEST-MEANS-GREATER))
 (234 14 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLIES-LT-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (220 22 (:REWRITE RATIONALP-*))
 (213 213 (:REWRITE RIGHT-PERIMETER-PINCHING))
 (165 165 (:META *META*-UNHIDE-HIDE))
 (162 34 (:REWRITE DEFUNG::NATP-FIX))
 (152 152 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (150 75 (:LINEAR POSP-N))
 (144 144 (:REWRITE LEN-FLIP-ON-EVENTS))
 (144 48 (:DEFINITION NATP))
 (131 25 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-LT-CHAINING))
 (123 123 (:DEFINITION RETURN-LAST))
 (104 4 (:DEFINITION ORDERED-LOCATION-LIST-P))
 (98 98 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (94 94 (:REWRITE ZOOLA))
 (91 91 (:TYPE-PRESCRIPTION CHASING-NEIGHBOR))
 (87 87 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (80 16 (:REWRITE POSITIVE-SUM))
 (78 78 (:REWRITE HELPER-RULE))
 (72 11 (:REWRITE UPDATE-UAV-LOCATION-ZERO))
 (50 50 (:REWRITE <-C-UAV-ID-FIX-REWRITE-0))
 (48 48 (:TYPE-PRESCRIPTION NATP))
 (45 6 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST))
 (44 4 (:DEFINITION UAV-FIX!))
 (36 36 (:REWRITE-QUOTED-CONSTANT RFIX-UNDER-RATIONAL-EQUIV))
 (36 36 (:REWRITE-QUOTED-CONSTANT IFIX-UNDER-INT-EQUIV))
 (36 36 (:REWRITE-QUOTED-CONSTANT FIX-UNDER-NUMBER-EQUIV))
 (33 33 (:TYPE-PRESCRIPTION NNRAT-FIX-FAST$INLINE))
 (28 28 (:REWRITE PLUS-EQUAL-N-TO-EQUIV-N-MINUS-1))
 (28 28 (:REWRITE <-UAV-ID-FIX-N-REWRITE-1))
 (26 4 (:REWRITE ORDERED-LOCATION-LIST-P-UPDATE-LOCATION-ALL))
 (25 25 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-CHAINING))
 (18 3 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-2))
 (17 4 (:REWRITE SEQUENTIAL-ID-LIST-P-UPDATE-LOCATION-ALL))
 (15 5 (:REWRITE POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (13 13 (:REWRITE T-IMPLIES-NNRAT-P-NNRAT-FIX))
 (9 9 (:TYPE-PRESCRIPTION BOOLEANP))
 (8 8 (:TYPE-PRESCRIPTION <=LOCATION-ALL))
 (8 8 (:REWRITE UAV-ID-EQUIV-TO-DOUBLE-CONTAINMENT))
 (6 6 (:REWRITE UAV-FIX-UNDER-UAV-EQUIV))
 (6 3 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-1))
 (4 4 (:REWRITE T-T-IMPLIES-UAV-LIST-P-STEP-TIME))
 (2 2 (:REWRITE O-INFP->NEQ-0))
 (1 1 (:REWRITE SEQUENTIAL-ID-LIST-P-FLIP-ON-EVENTS))
 )
(IMPENDING-IMPACT-EVENT-FOR-UAV-AFTER-TIME-TO-IMPACT
 (67650 200 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (32891 46 (:REWRITE NOT-IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL-INVARIANT-AWKWARD))
 (32712 1556 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (31731 552 (:REWRITE EVENT-FOR-UAV-N))
 (31479 441 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (31049 260 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (29961 30 (:DEFINITION LEN))
 (23736 344 (:REWRITE UAV->DIRECTION-FLIP-UAV))
 (21041 384 (:REWRITE ITH-UAV-FLIP-ON-EVENTS))
 (20832 58 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (20657 384 (:REWRITE NOT-EVENT-IMPLIES-FLIP-UAV-ID))
 (17284 5 (:REWRITE LT-TIME-TO-IMPACT-NOT-IMPENDING-IMPACT))
 (17200 344 (:REWRITE TIMES-DIRECTION))
 (16646 552 (:REWRITE EVENT-FOR-UAV-0))
 (16254 552 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (16254 552 (:REWRITE EVENT-FOR-UAV-LEFT))
 (10716 544 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (9768 9768 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (8270 595 (:REWRITE DEFUNG::NATP-FIX))
 (7171 160 (:DEFINITION NATP))
 (6770 846 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (5156 1908 (:REWRITE |(< (- x) c)|))
 (4700 15 (:DEFINITION UAV-LIST-FIX$INLINE))
 (4462 200 (:REWRITE POSITIVE-TO-ONE))
 (4180 8 (:LINEAR NNEG-MIN-TIME-TO-IMPACT-FOR-UAV))
 (3647 1846 (:REWRITE DEFAULT-MINUS))
 (3357 2617 (:REWRITE DEFAULT-PLUS-1))
 (3160 1580 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (3116 8 (:LINEAR POSITIVE-MIN-TIME-TO-IMPACT-FOR-UAV))
 (3104 8 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST))
 (3002 1912 (:REWRITE DEFAULT-LESS-THAN-1))
 (2753 2087 (:REWRITE DEFAULT-TIMES-2))
 (2676 552 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (2528 1765 (:REWRITE SIMPLIFY-PRODUCTS-GATHER-EXPONENTS-<))
 (2285 1058 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (2087 2087 (:REWRITE DEFAULT-TIMES-1))
 (1920 1920 (:REWRITE THE-FLOOR-BELOW))
 (1920 1920 (:REWRITE THE-FLOOR-ABOVE))
 (1912 1912 (:REWRITE REDUCE-RATIONAL-MULTIPLICATIVE-CONSTANT-<))
 (1912 1912 (:REWRITE REDUCE-MULTIPLICATIVE-CONSTANT-<))
 (1912 1912 (:REWRITE REDUCE-ADDITIVE-CONSTANT-<))
 (1908 1908 (:REWRITE |(< c (/ x)) positive c --- present in goal|))
 (1908 1908 (:REWRITE |(< c (/ x)) positive c --- obj t or nil|))
 (1908 1908 (:REWRITE |(< c (/ x)) negative c --- present in goal|))
 (1908 1908 (:REWRITE |(< c (/ x)) negative c --- obj t or nil|))
 (1908 1908 (:REWRITE |(< c (- x))|))
 (1908 1908 (:REWRITE |(< (/ x) c) positive c --- present in goal|))
 (1908 1908 (:REWRITE |(< (/ x) c) positive c --- obj t or nil|))
 (1908 1908 (:REWRITE |(< (/ x) c) negative c --- present in goal|))
 (1908 1908 (:REWRITE |(< (/ x) c) negative c --- obj t or nil|))
 (1908 1908 (:REWRITE |(< (/ x) (/ y))|))
 (1908 1908 (:REWRITE |(< (- x) (- y))|))
 (1819 1819 (:REWRITE INTEGERP-<-CONSTANT))
 (1819 1819 (:REWRITE CONSTANT-<-INTEGERP))
 (1675 1058 (:REWRITE PREFER-POSITIVE-ADDENDS-EQUAL))
 (1613 1058 (:REWRITE SIMPLIFY-PRODUCTS-GATHER-EXPONENTS-EQUAL))
 (1455 318 (:REWRITE RATIONALP-X))
 (1410 653 (:REWRITE INTEGERP-MINUS-X))
 (1348 1348 (:REWRITE NORMALIZE-FACTORS-GATHER-EXPONENTS))
 (1348 1348 (:REWRITE |(* (- x) y)|))
 (1324 4 (:REWRITE IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL))
 (1219 77 (:DEFINITION UAV-LIST-P))
 (1149 678 (:REWRITE DEFAULT-CDR))
 (1125 1058 (:REWRITE SIMPLIFY-SUMS-EQUAL))
 (1058 1058 (:REWRITE REDUCE-MULTIPLICATIVE-CONSTANT-EQUAL))
 (1058 1058 (:REWRITE REDUCE-ADDITIVE-CONSTANT-EQUAL))
 (1058 1058 (:REWRITE EQUAL-OF-PREDICATES-REWRITE))
 (1058 1058 (:REWRITE |(equal c (/ x))|))
 (1058 1058 (:REWRITE |(equal c (- x))|))
 (1058 1058 (:REWRITE |(equal (/ x) c)|))
 (1058 1058 (:REWRITE |(equal (/ x) (/ y))|))
 (1058 1058 (:REWRITE |(equal (- x) c)|))
 (1058 1058 (:REWRITE |(equal (- x) (- y))|))
 (1021 1021 (:REWRITE REMOVE-WEAK-INEQUALITIES))
 (935 861 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (908 500 (:REWRITE DEFAULT-CAR))
 (861 861 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (861 861 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (814 814 (:REWRITE |(< (/ x) 0)|))
 (814 814 (:REWRITE |(< (* x y) 0)|))
 (792 792 (:REWRITE NORMALIZE-TERMS-SUCH-AS-A/A+B-+-B/A+B))
 (744 744 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (724 42 (:REWRITE CHASING-NEIGHBOR-IS-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (719 143 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY))
 (716 716 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-<-0-RATIONAL-REMAINDER))
 (716 716 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-<-0-RATIONAL-COMMON))
 (691 443 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (620 218 (:REWRITE IMPLIES-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (582 147 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (574 574 (:REWRITE |(< 0 (* x y))|))
 (570 570 (:REWRITE |(< 0 (/ x))|))
 (564 564 (:REWRITE REDUCE-INTEGERP-+))
 (564 564 (:META META-INTEGERP-CORRECT))
 (560 323 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (554 545 (:TYPE-PRESCRIPTION BUBBLE-DOWN))
 (548 148 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (544 544 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (507 143 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY-TOO))
 (498 498 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-0-<-AX+BX-RATIONAL-REMAINDER))
 (498 498 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-0-<-AX+BX-RATIONAL-COMMON))
 (447 29 (:REWRITE |(+ (if a b c) x)|))
 (399 181 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (344 344 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (318 318 (:REWRITE REDUCE-RATIONALP-+))
 (318 318 (:REWRITE REDUCE-RATIONALP-*))
 (318 318 (:REWRITE RATIONALP-MINUS-X))
 (318 318 (:META META-RATIONALP-CORRECT))
 (288 8 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLIES-LT-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (271 89 (:REWRITE POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (270 90 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (240 16 (:REWRITE ACL2-NUMBERP-X))
 (212 58 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (211 148 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (200 200 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (178 38 (:REWRITE LESS-THAN-LEAST-IMPLIES-LESS-THAN-ANY))
 (173 173 (:REWRITE UAV-ID-P-CONSTANT))
 (172 172 (:REWRITE |(< x (if a b c))|))
 (172 172 (:REWRITE |(< (if a b c) x)|))
 (166 166 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-=-0))
 (160 160 (:TYPE-PRESCRIPTION NATP))
 (148 12 (:REWRITE UPDATE-LOCATION-ALL-ZERO))
 (126 42 (:REWRITE IMPENDING-ESCORT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (125 25 (:REWRITE NOT-EQUAL-ALWAYS-SMALLEST-MEANS-GREATER))
 (110 110 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (108 108 (:REWRITE UAV-ID-FIX-CONSTANT))
 (100 12 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-LT-CHAINING))
 (89 89 (:REWRITE |(< (* x y) 0) rationalp (* x y)|))
 (85 85 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (67 67 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (59 59 (:REWRITE |(< y (+ (- c) x))|))
 (59 59 (:REWRITE |(< x (+ c/d y))|))
 (59 59 (:REWRITE |(+ c (+ d x))|))
 (58 58 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (48 48 (:REWRITE |(< (+ c/d x) y)|))
 (48 48 (:REWRITE |(< (+ (- c) x) y)|))
 (46 46 (:REWRITE ZOOLA))
 (45 34 (:REWRITE LEN-UPDATE-LOCATION-ALL))
 (42 42 (:TYPE-PRESCRIPTION CHASING-NEIGHBOR))
 (40 40 (:TYPE-PRESCRIPTION NNRAT-FIX-FAST$INLINE))
 (38 19 (:LINEAR POSP-N))
 (37 37 (:REWRITE FOLD-CONSTS-IN-+))
 (37 37 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (36 36 (:REWRITE T-IMPLIES-NNRAT-P-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (32 8 (:REWRITE |(* y x)|))
 (30 30 (:TYPE-PRESCRIPTION DEFUNG::TRUE-FROM-X))
 (29 29 (:REWRITE LEN-FLIP-ON-EVENTS))
 (28 28 (:REWRITE FLIP-ON-EVENTS-INVARIANTS))
 (17 17 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (17 17 (:REWRITE ESCORT-CONDITION-NECC))
 (16 4 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-2))
 (15 15 (:REWRITE OPEN-STEP-TIME-INDUCTION))
 (12 12 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-CHAINING))
 (12 4 (:LINEAR FLIP-ON-EVENTS-IS-CLOSER-TO-EVENT-LINEAR))
 (8 8 (:REWRITE INTEGERP-/))
 (8 8 (:REWRITE |(* a (/ a))|))
 (8 4 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-1))
 (4 4 (:REWRITE |(<= (/ x) y) with (< x 0)|))
 (4 4 (:REWRITE |(<= (/ x) y) with (< 0 x)|))
 (4 4 (:REWRITE |(< x (/ y)) with (< y 0)|))
 (4 4 (:REWRITE |(< x (/ y)) with (< 0 y)|))
 (1 1 (:REWRITE O-INFP->NEQ-0))
 )
(MS-UPDATE-LOCATION-ALL)
(T-T-IMPLIES-UAV-LIST-P-MS-UPDATE-LOCATION-ALL)
(MS-UPDATE-LOCATION-ALL)
(NNRAT-EQUIV-1-IMPLIES-EQUAL-MS-UPDATE-LOCATION-ALL
 (14 14 (:TYPE-PRESCRIPTION NNRAT-FIX))
 )
(UAV-LIST-EQUIV-2-IMPLIES-EQUAL-MS-UPDATE-LOCATION-ALL
 (7 7 (:TYPE-PRESCRIPTION NNRAT-FIX))
 )
(T-WF-ENSEMBLE-IMPLIES-WF-ENSEMBLE-MS-UPDATE-LOCATION-ALL
 (6 6 (:TYPE-PRESCRIPTION NNRAT-FIX))
 )
(T-WF-ESCORT-P-IMPLIES-ESCORT-CONDITION-MS-UPDATE-LOCATION-ALL
 (9 9 (:TYPE-PRESCRIPTION NNRAT-FIX))
 )
(OPEN-ITH-UAV-STEP-TIME
 (4448 25 (:DEFINITION NEXT-STEP))
 (4029 10 (:DEFINITION LTE-TIME-TO-IMPACT))
 (3117 12 (:DEFINITION TIME-TO-IMPACT))
 (1709 37 (:DEFINITION MIN))
 (1550 25 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (1530 1530 (:TYPE-PRESCRIPTION ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (939 86 (:REWRITE PREFER-POSITIVE-ADDENDS-<))
 (854 41 (:REWRITE DEFUNG::NATP-FIX))
 (804 9 (:REWRITE |(+ y (+ x z))|))
 (782 25 (:REWRITE |(+ x (if a b c))|))
 (768 16 (:DEFINITION NATP))
 (653 3 (:REWRITE LT-TIME-TO-IMPACT-NOT-IMPENDING-IMPACT))
 (644 3 (:DEFINITION LT-TIME-TO-IMPACT))
 (480 25 (:REWRITE |(- (if a b c))|))
 (466 96 (:REWRITE |(< (- x) c)|))
 (388 100 (:REWRITE DEFAULT-LESS-THAN-2))
 (337 13 (:REWRITE OPEN-STEP-TIME-INDUCTION))
 (316 218 (:REWRITE DEFAULT-PLUS-1))
 (314 5 (:DEFINITION |STEP-TIME-test|))
 (227 102 (:REWRITE DEFAULT-MINUS))
 (213 5 (:REWRITE DEFUNG::OPEN-TRUE))
 (185 3 (:REWRITE UPDATE-UAV-LOCATION-ZERO))
 (162 26 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (160 30 (:REWRITE SIMPLIFY-PRODUCTS-GATHER-EXPONENTS-EQUAL))
 (160 30 (:REWRITE PREFER-POSITIVE-ADDENDS-EQUAL))
 (160 30 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (140 60 (:REWRITE INTEGERP-MINUS-X))
 (137 112 (:REWRITE DEFAULT-TIMES-2))
 (133 28 (:REWRITE RATIONALP-X))
 (132 12 (:REWRITE |(+ (if a b c) x)|))
 (130 15 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (126 86 (:REWRITE SIMPLIFY-PRODUCTS-GATHER-EXPONENTS-<))
 (112 112 (:REWRITE DEFAULT-TIMES-1))
 (112 37 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (106 8 (:REWRITE ACL2-NUMBERP-X))
 (100 100 (:REWRITE THE-FLOOR-BELOW))
 (100 100 (:REWRITE THE-FLOOR-ABOVE))
 (96 96 (:REWRITE REDUCE-RATIONAL-MULTIPLICATIVE-CONSTANT-<))
 (96 96 (:REWRITE REDUCE-MULTIPLICATIVE-CONSTANT-<))
 (96 96 (:REWRITE REDUCE-ADDITIVE-CONSTANT-<))
 (96 96 (:REWRITE DEFAULT-LESS-THAN-1))
 (96 96 (:REWRITE |(< c (/ x)) positive c --- present in goal|))
 (96 96 (:REWRITE |(< c (/ x)) positive c --- obj t or nil|))
 (96 96 (:REWRITE |(< c (/ x)) negative c --- present in goal|))
 (96 96 (:REWRITE |(< c (/ x)) negative c --- obj t or nil|))
 (96 96 (:REWRITE |(< c (- x))|))
 (96 96 (:REWRITE |(< (/ x) c) positive c --- present in goal|))
 (96 96 (:REWRITE |(< (/ x) c) positive c --- obj t or nil|))
 (96 96 (:REWRITE |(< (/ x) c) negative c --- present in goal|))
 (96 96 (:REWRITE |(< (/ x) c) negative c --- obj t or nil|))
 (96 96 (:REWRITE |(< (/ x) (/ y))|))
 (96 96 (:REWRITE |(< (- x) (- y))|))
 (92 23 (:REWRITE |(- (* c x))|))
 (90 30 (:REWRITE UAV-LIST-FIX!-TO-UAV-LIST-FIX))
 (86 86 (:REWRITE REMOVE-WEAK-INEQUALITIES))
 (86 86 (:REWRITE REMOVE-STRICT-INEQUALITIES))
 (86 86 (:REWRITE INTEGERP-<-CONSTANT))
 (86 86 (:REWRITE CONSTANT-<-INTEGERP))
 (85 5 (:DEFINITION UAV-LIST-P))
 (81 81 (:REWRITE OPEN-UAV-LIST-FIX))
 (81 72 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (80 80 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (80 80 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (80 80 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (75 75 (:REWRITE VAL-OF-CONS))
 (74 37 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (72 72 (:TYPE-PRESCRIPTION UAV-ID-P))
 (69 23 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (62 62 (:REWRITE NORMALIZE-TERMS-SUCH-AS-A/A+B-+-B/A+B))
 (54 54 (:REWRITE NORMALIZE-FACTORS-GATHER-EXPONENTS))
 (54 54 (:REWRITE |(* (- x) y)|))
 (50 50 (:TYPE-PRESCRIPTION EXISTS-UAV-WITH-EVENT))
 (50 50 (:REWRITE REDUCE-INTEGERP-+))
 (50 50 (:META META-INTEGERP-CORRECT))
 (45 45 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (45 33 (:REWRITE DEFAULT-CDR))
 (45 3 (:REWRITE |(- (+ x y))|))
 (43 43 (:REWRITE |(< 0 (/ x))|))
 (43 43 (:REWRITE |(< 0 (* x y))|))
 (40 40 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-0-<-AX+BX-RATIONAL-REMAINDER))
 (40 40 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-0-<-AX+BX-RATIONAL-COMMON))
 (36 18 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (35 35 (:TYPE-PRESCRIPTION BUBBLE-DOWN))
 (35 30 (:REWRITE SIMPLIFY-SUMS-EQUAL))
 (33 33 (:TYPE-PRESCRIPTION IMPACT-EVENT-FOR-UAV))
 (30 30 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (30 30 (:REWRITE REDUCE-MULTIPLICATIVE-CONSTANT-EQUAL))
 (30 30 (:REWRITE REDUCE-ADDITIVE-CONSTANT-EQUAL))
 (30 30 (:REWRITE EQUAL-OF-PREDICATES-REWRITE))
 (30 30 (:REWRITE |(equal c (/ x))|))
 (30 30 (:REWRITE |(equal c (- x))|))
 (30 30 (:REWRITE |(equal (/ x) c)|))
 (30 30 (:REWRITE |(equal (/ x) (/ y))|))
 (30 30 (:REWRITE |(equal (- x) c)|))
 (30 30 (:REWRITE |(equal (- x) (- y))|))
 (28 28 (:REWRITE REDUCE-RATIONALP-+))
 (28 28 (:REWRITE REDUCE-RATIONALP-*))
 (28 28 (:REWRITE RATIONALP-MINUS-X))
 (28 28 (:META META-RATIONALP-CORRECT))
 (27 15 (:REWRITE DEFAULT-CAR))
 (26 26 (:REWRITE UAV-ID-P-CONSTANT))
 (26 26 (:REWRITE UAV-ID-FIX-CONSTANT))
 (25 25 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-=-0))
 (25 25 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (24 6 (:REWRITE |(+ (* c x) (* d x))|))
 (23 23 (:REWRITE |(* 1 x)|))
 (18 18 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (18 18 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (18 18 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (16 16 (:TYPE-PRESCRIPTION NATP))
 (10 10 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (10 10 (:REWRITE |(< (/ x) 0)|))
 (10 10 (:REWRITE |(< (* x y) 0) rationalp (* x y)|))
 (10 10 (:REWRITE |(< (* x y) 0)|))
 (10 10 (:META *META*-BETA-REDUCE-HIDE))
 (10 5 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (10 5 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (10 5 (:LINEAR POSP-N))
 (6 6 (:REWRITE |(< y (+ (- c) x))|))
 (6 6 (:REWRITE |(< x (+ c/d y))|))
 (5 5 (:TYPE-PRESCRIPTION UAV-P))
 (5 5 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (5 5 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (5 5 (:REWRITE ESCORT-CONDITION-NECC))
 (5 5 (:DEFINITION THROW-NONEXEC-ERROR))
 (5 5 (:DEFINITION RETURN-LAST))
 (3 3 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (3 3 (:TYPE-PRESCRIPTION NATP-UAV-ID-FIX))
 (3 3 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV-ID-FIX))
 (3 3 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 (3 3 (:REWRITE T-IMPLIES-NNRAT-P-NNRAT-FIX))
 (3 3 (:REWRITE FOLD-CONSTS-IN-+))
 (3 3 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (3 3 (:REWRITE |(< (+ c/d x) y)|))
 (3 3 (:REWRITE |(< (+ (- c) x) y)|))
 (3 3 (:REWRITE |(+ c (+ d x))|))
 (1 1 (:REWRITE |(equal x (if a b c))|))
 (1 1 (:REWRITE |(equal (if a b c) x)|))
 )
(TEST-THIS
 (80 11 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (78 9 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (72 6 (:REWRITE LTE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IMPLIES-LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT))
 (51 3 (:DEFINITION UAV-LIST-P))
 (39 12 (:REWRITE NNRAT-FIX-NNRAT-P))
 (36 3 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLIES-LT-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (35 11 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (34 17 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (30 5 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (29 1 (:REWRITE UAV-LOCATION-FIX-UAV-LOCATION-P))
 (27 27 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (26 1 (:DEFINITION UAV-LOCATION-P))
 (24 24 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (21 6 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-LT-CHAINING))
 (19 19 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (19 19 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (19 19 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (16 16 (:TYPE-PRESCRIPTION ESCORT-CONDITION))
 (15 5 (:LINEAR POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (10 5 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (10 5 (:LINEAR POSP-N))
 (10 2 (:REWRITE POSITIVE-TO-ONE))
 (9 9 (:REWRITE RIGHT-PERIMETER-PINCHING))
 (9 9 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (9 3 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (8 8 (:REWRITE DEFAULT-CDR))
 (6 6 (:TYPE-PRESCRIPTION IMPENDING-IMPACT-EVENT-FOR-UAV))
 (6 6 (:TYPE-PRESCRIPTION BOOLEANP))
 (6 6 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (6 6 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-CHAINING))
 (6 3 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (6 3 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (6 1 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (5 5 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (5 5 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (5 5 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (5 5 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (4 4 (:META *META*-UNHIDE-HIDE))
 (3 3 (:TYPE-PRESCRIPTION UAV-P))
 (3 3 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (3 3 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-NECC))
 (3 3 (:REWRITE DEFAULT-CAR))
 (1 1 (:REWRITE UAV-ID-P-CONSTANT))
 (1 1 (:REWRITE UAV-ID-FIX-CONSTANT))
 )
(LTE-MIN-TIME-TO-IMPACT-IMPLIES-LTE-TIME-TO-IMPACT
 (5668 91 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (2960 391 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (2846 78 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (2772 106 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (2423 11 (:REWRITE NOT-IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL-INVARIANT-AWKWARD))
 (2370 3 (:DEFINITION LEN))
 (2228 135 (:REWRITE EVENT-FOR-UAV-N))
 (1908 1908 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (1807 23 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (1478 104 (:REWRITE ITH-UAV-FLIP-ON-EVENTS))
 (1440 72 (:REWRITE UAV->DIRECTION-FLIP-UAV))
 (1374 104 (:REWRITE NOT-EVENT-IMPLIES-FLIP-UAV-ID))
 (1310 135 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (1310 135 (:REWRITE EVENT-FOR-UAV-LEFT))
 (1310 135 (:REWRITE EVENT-FOR-UAV-0))
 (1119 11 (:REWRITE IMMINENT-EVENT-IMPLIES-IMPACT-EVENT))
 (1100 168 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (1092 138 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (818 409 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (660 66 (:REWRITE POSITIVE-TO-ONE))
 (639 283 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (617 3 (:DEFINITION UAV-LIST-FIX$INLINE))
 (576 72 (:REWRITE TIMES-DIRECTION))
 (472 4 (:REWRITE IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL))
 (436 2 (:REWRITE EVENT-FOR-UAV-UPDATE-LOCATION-ALL-LTE))
 (399 135 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (373 23 (:DEFINITION UAV-LIST-P))
 (318 63 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (313 280 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (280 280 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (280 280 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (269 136 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (259 153 (:REWRITE DEFAULT-CDR))
 (215 146 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (210 47 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (204 204 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (190 29 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (186 4 (:REWRITE EVENT-FOR-UAV-IMPLIES-IMPENDING-EVENT-FOR-UAV))
 (180 103 (:REWRITE DEFAULT-CAR))
 (179 35 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY))
 (176 176 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (151 85 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (148 8 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLIES-LT-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (146 146 (:TYPE-PRESCRIPTION UAV-ID-P))
 (142 18 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST))
 (140 47 (:REWRITE IMPLIES-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (138 138 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (122 23 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (113 35 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY-TOO))
 (108 35 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (100 12 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-LT-CHAINING))
 (76 47 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (74 74 (:REWRITE UAV-ID-P-CONSTANT))
 (72 18 (:LINEAR POSITIVE-MIN-TIME-TO-IMPACT-FOR-UAV))
 (66 66 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (63 21 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (57 14 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-2))
 (34 34 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (32 32 (:REWRITE UAV-FIX-UNDER-UAV-EQUIV))
 (31 7 (:REWRITE LESS-THAN-LEAST-IMPLIES-LESS-THAN-ANY))
 (29 29 (:REWRITE UAV-ID-FIX-CONSTANT))
 (28 14 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-1))
 (27 9 (:REWRITE IMPENDING-ESCORT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (26 26 (:TYPE-PRESCRIPTION NNRAT-FIX-FAST$INLINE))
 (24 12 (:LINEAR POSP-N))
 (23 23 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (23 23 (:TYPE-PRESCRIPTION NATP-UAV-ID-FIX))
 (23 23 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV-ID-FIX))
 (23 23 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 (23 23 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (20 20 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (20 4 (:REWRITE POSITIVE-SUM))
 (18 18 (:REWRITE LEN-FLIP-ON-EVENTS))
 (16 16 (:REWRITE T-IMPLIES-NNRAT-P-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (12 12 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-CHAINING))
 (12 4 (:DEFINITION NATP))
 (11 11 (:REWRITE ZOOLA))
 (11 11 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (11 11 (:REWRITE LEN-UPDATE-LOCATION-ALL))
 (11 11 (:REWRITE ESCORT-CONDITION-NECC))
 (10 10 (:REWRITE T-IMPLIES-NNRAT-P-NNRAT-FIX))
 (8 2 (:REWRITE IMPENDING-EVENT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (7 7 (:TYPE-PRESCRIPTION CHASING-NEIGHBOR))
 (7 7 (:REWRITE FOLD-CONSTS-IN-+))
 (7 7 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (5 1 (:REWRITE NOT-EQUAL-ALWAYS-SMALLEST-MEANS-GREATER))
 (4 4 (:TYPE-PRESCRIPTION NATP))
 (1 1 (:REWRITE UPDATE-LOCATION-ALL-ZERO))
 (1 1 (:REWRITE O-INFP->NEQ-0))
 )
(ITH-UAV-MS-UPDATE-LOCATION-ALL-IMPENDING-EVENT
 (152 2 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (103 103 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (72 72 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (40 4 (:REWRITE POSITIVE-TO-ONE))
 (40 4 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (32 2 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (32 2 (:REWRITE EVENT-FOR-UAV-N))
 (32 2 (:REWRITE EVENT-FOR-UAV-LEFT))
 (32 2 (:REWRITE EVENT-FOR-UAV-0))
 (26 3 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (24 24 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (22 11 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (22 11 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (21 1 (:REWRITE OPEN-STEP-TIME-INDUCTION))
 (18 2 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (18 1 (:DEFINITION |STEP-TIME-test|))
 (17 1 (:DEFINITION UAV-LIST-P))
 (15 6 (:REWRITE NNRAT-FIX-NNRAT-P))
 (13 2 (:REWRITE UPDATE-UAV-LOCATION-ZERO))
 (12 4 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (12 2 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (12 2 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (9 9 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (8 8 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (7 5 (:REWRITE DEFAULT-CDR))
 (6 1 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (6 1 (:REWRITE DEFUNG::OPEN-TRUE))
 (6 1 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST))
 (5 5 (:TYPE-PRESCRIPTION IMPENDING-IMPACT-EVENT-FOR-UAV))
 (5 3 (:REWRITE DEFAULT-CAR))
 (5 2 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (5 1 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-2))
 (4 4 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (4 4 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (4 4 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (4 4 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (4 4 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (4 2 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (4 1 (:LINEAR POSITIVE-MIN-TIME-TO-IMPACT-FOR-UAV))
 (3 3 (:REWRITE UAV-ID-P-CONSTANT))
 (3 3 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (3 1 (:REWRITE UAV-LIST-FIX!-TO-UAV-LIST-FIX))
 (3 1 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (2 2 (:TYPE-PRESCRIPTION EXISTS-UAV-WITH-EVENT))
 (2 2 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (2 2 (:REWRITE OPEN-UAV-LIST-FIX))
 (2 2 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (2 2 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (2 2 (:META *META*-BETA-REDUCE-HIDE))
 (2 2 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (2 2 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (2 1 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (2 1 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (2 1 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-1))
 (2 1 (:LINEAR POSP-N))
 (1 1 (:TYPE-PRESCRIPTION UAV-P))
 (1 1 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (1 1 (:REWRITE UAV-ID-FIX-CONSTANT))
 (1 1 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (1 1 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (1 1 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (1 1 (:REWRITE ESCORT-CONDITION-NECC))
 (1 1 (:DEFINITION THROW-NONEXEC-ERROR))
 (1 1 (:DEFINITION RETURN-LAST))
 )
(IMPENDING-IMPLIES-IMPENDING-RIGHT
 (104 12 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (100 60 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (83 2 (:LINEAR AVERAGE-UPPER-BOUND))
 (83 2 (:LINEAR AVERAGE-LOWER-BOUND))
 (73 2 (:LINEAR EVENLY-SPACED-BOUNDARIES))
 (70 4 (:REWRITE ADJACENT-LOCATIONS-NEVER-SMALLER-PLUS))
 (68 4 (:DEFINITION UAV-LIST-P))
 (66 22 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (49 1 (:REWRITE NORMALIZE-UAV-ID-EQUIV-PLUS-FIX))
 (43 11 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (37 37 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (36 36 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (32 32 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (27 12 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (19 19 (:REWRITE RIGHT-PERIMETER-PINCHING))
 (17 3 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (17 1 (:REWRITE UAV-ID-P-PLUS-C))
 (15 3 (:REWRITE <-C-UAV-ID-FIX-REWRITE-0))
 (10 10 (:REWRITE HELPER-RULE))
 (10 10 (:REWRITE <-UAV-ID-FIX-N-REWRITE-1))
 (10 10 (:META *META*-UNHIDE-HIDE))
 (8 8 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (8 4 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (8 4 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (7 7 (:REWRITE DEFAULT-CDR))
 (6 6 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (6 3 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (4 4 (:TYPE-PRESCRIPTION UAV-P))
 (4 4 (:REWRITE OPEN-UAV-LIST-FIX))
 (4 4 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (4 4 (:REWRITE DEFAULT-CAR))
 (4 4 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-RIGHT))
 (4 4 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-LEFT))
 (4 1 (:REWRITE O-INFP->NEQ-0))
 (3 3 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (3 3 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (3 3 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (2 2 (:LINEAR EVENLY-SPACED-BOUNDARIES-CONSTANT))
 )
(IMPENDING-IMPLIES-IMPENDING-LEFT
 (104 12 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (88 61 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (80 2 (:LINEAR AVERAGE-UPPER-BOUND))
 (80 2 (:LINEAR AVERAGE-LOWER-BOUND))
 (78 26 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (68 4 (:DEFINITION UAV-LIST-P))
 (64 4 (:REWRITE ADJACENT-LOCATIONS-NEVER-SMALLER-MINUS))
 (62 6 (:REWRITE LESS-THAN-ZERO-TO-UAV-ID-EQUIV))
 (43 11 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (42 2 (:LINEAR EVENLY-SPACED-BOUNDARIES))
 (36 36 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (26 12 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (23 23 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (23 23 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (23 23 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (19 19 (:REWRITE RIGHT-PERIMETER-PINCHING))
 (16 3 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (10 10 (:META *META*-UNHIDE-HIDE))
 (8 8 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (8 4 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (8 4 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (8 1 (:REWRITE COMBINE-CONSTANTS-LINEAR))
 (7 7 (:REWRITE POSITIVE-SUM))
 (7 7 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (7 7 (:REWRITE DEFAULT-CDR))
 (6 3 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (4 4 (:TYPE-PRESCRIPTION UAV-P))
 (4 4 (:REWRITE OPEN-UAV-LIST-FIX))
 (4 4 (:REWRITE DEFAULT-CAR))
 (4 4 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-RIGHT))
 (4 4 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-LEFT))
 (4 1 (:REWRITE O-INFP->NEQ-0))
 (3 3 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (3 3 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (3 3 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (3 3 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (2 2 (:LINEAR EVENLY-SPACED-BOUNDARIES-CONSTANT))
 (1 1 (:REWRITE HELPER-RULE))
 (1 1 (:REWRITE <-C-UAV-ID-FIX-REWRITE-0))
 )
(TIME-TO-EVENT
 (27758 142 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (23628 3089 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (22609 6 (:DEFINITION STEP-TIME-MEASURE-DEFINITION))
 (21145 1069 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (17446 198 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (16947 297 (:DEFINITION LEN))
 (14778 980 (:DEFINITION UAV-LIST-P))
 (11171 1299 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (3294 1002 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (2257 2257 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (1893 1893 (:REWRITE DEFAULT-CDR))
 (1886 90 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (1738 22 (:DEFINITION UAV-LIST-FIX$INLINE))
 (1206 600 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (1024 1024 (:TYPE-PRESCRIPTION UAV-P))
 (1002 1002 (:REWRITE DEFAULT-CAR))
 (891 891 (:TYPE-PRESCRIPTION LEN))
 (642 642 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (638 22 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (618 600 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (558 21 (:LINEAR POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (500 58 (:REWRITE POSITIVE-SUM))
 (466 6 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (412 412 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (411 21 (:REWRITE FLIP-ON-EVENTS-INVARIANTS))
 (305 48 (:DEFINITION NATP))
 (270 90 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (238 119 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (206 103 (:LINEAR POSP-N))
 (198 198 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (198 198 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (198 190 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (190 190 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (190 190 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (144 144 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (128 128 (:REWRITE OPEN-UAV-LIST-FIX))
 (103 103 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (84 21 (:REWRITE WF-ENSEMBLE-IMPLIES-ESCORT-CONDITION-FLIP-ON-EVENTS))
 (80 8 (:REWRITE POSITIVE-TO-ONE))
 (80 8 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (64 4 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (64 4 (:REWRITE EVENT-FOR-UAV-N))
 (64 4 (:REWRITE EVENT-FOR-UAV-LEFT))
 (64 4 (:REWRITE EVENT-FOR-UAV-0))
 (48 48 (:TYPE-PRESCRIPTION NATP))
 (48 4 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (35 3 (:REWRITE O<=-O-FINP-DEF))
 (32 16 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (26 26 (:REWRITE UAV-LIST-P-OF-UAV-LIST-FIX))
 (26 26 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (21 21 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (16 16 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (15 5 (:REWRITE ASSOCIATIVITY-OF-+))
 (12 6 (:REWRITE RATIONALP-+))
 (12 6 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (10 10 (:REWRITE FOLD-CONSTS-IN-+))
 (10 10 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (10 2 (:REWRITE O-FIRST-EXPT-<))
 (8 8 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (8 8 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (8 3 (:REWRITE AC-<))
 (6 6 (:TYPE-PRESCRIPTION DEFUNG::TRUE-FROM-X))
 (6 6 (:TYPE-PRESCRIPTION DEFUNG::NOT-TRUE-FROM-NOT-X))
 (6 6 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (6 3 (:REWRITE O-INFP-O-FINP-O<=))
 (6 3 (:REWRITE O-FIRST-EXPT-DEF-O-FINP))
 (3 3 (:REWRITE |a < b & b < c  =>  a < c|))
 (3 2 (:REWRITE O-FIRST-COEFF-<))
 )
(T-T-T-IMPLIES-NNRAT-P-TIME-TO-EVENT
 (43657 210 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (37609 4943 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (33841 1702 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (27584 308 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (27324 462 (:DEFINITION LEN))
 (23098 1531 (:DEFINITION UAV-LIST-P))
 (17979 2021 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (5062 1559 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (3524 3524 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (3170 35 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (2959 2959 (:REWRITE DEFAULT-CDR))
 (2364 123 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (2246 1138 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (2212 28 (:DEFINITION UAV-LIST-FIX$INLINE))
 (1967 959 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (1587 1587 (:TYPE-PRESCRIPTION UAV-P))
 (1559 1559 (:REWRITE DEFAULT-CAR))
 (1386 1386 (:TYPE-PRESCRIPTION LEN))
 (1260 1260 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (1064 959 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (812 28 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (796 35 (:REWRITE EVENT-FOR-UAV-N))
 (789 29 (:LINEAR POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (700 70 (:REWRITE POSITIVE-TO-ONE))
 (700 70 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (659 330 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (640 640 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (586 29 (:REWRITE FLIP-ON-EVENTS-INVARIANTS))
 (573 35 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (573 35 (:REWRITE EVENT-FOR-UAV-LEFT))
 (573 35 (:REWRITE EVENT-FOR-UAV-0))
 (491 60 (:REWRITE POSITIVE-SUM))
 (396 396 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (384 324 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (369 123 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (364 182 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (361 295 (:REWRITE OPEN-UAV-LIST-FIX))
 (354 35 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (324 324 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (324 324 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (308 308 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (308 308 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (297 44 (:DEFINITION NATP))
 (275 52 (:REWRITE ITH-UAV-VAL-1-NEXT-STEP))
 (208 42 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (189 189 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (156 78 (:LINEAR POSP-N))
 (140 140 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (116 29 (:REWRITE WF-ENSEMBLE-IMPLIES-ESCORT-CONDITION-FLIP-ON-EVENTS))
 (87 29 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (70 70 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (70 70 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (70 35 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (66 66 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (58 17 (:REWRITE RATIONALP-+))
 (55 55 (:DEFINITION RETURN-LAST))
 (44 44 (:TYPE-PRESCRIPTION NATP))
 (42 42 (:REWRITE UAV-ID-FIX-CONSTANT))
 (35 35 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (32 32 (:REWRITE UAV-ID-P-CONSTANT))
 (30 10 (:REWRITE ASSOCIATIVITY-OF-+))
 (29 29 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (26 26 (:TYPE-PRESCRIPTION NNRAT-FIX-FAST$INLINE))
 (13 13 (:REWRITE FOLD-CONSTS-IN-+))
 (13 13 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (4 4 (:TYPE-PRESCRIPTION DEFUNG::TRUE-FROM-X))
 (4 4 (:TYPE-PRESCRIPTION DEFUNG::NOT-TRUE-FROM-NOT-X))
 (3 3 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 (1 1 (:REWRITE O-INFP->NEQ-0))
 )
(TIME-TO-EVENT
 (4348 36 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (3369 4 (:DEFINITION STEP-TIME-DOMAIN-DEFINITION))
 (3364 622 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (2742 256 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (2672 10 (:REWRITE STEP-TIME-DOMAIN-TRUE))
 (2643 78 (:DEFINITION LEN))
 (2620 52 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (2380 1 (:DEFINITION TIME-TO-EVENT))
 (480 480 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (312 156 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (299 299 (:REWRITE DEFAULT-CDR))
 (234 234 (:TYPE-PRESCRIPTION LEN))
 (226 226 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (180 180 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (168 21 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (156 156 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (102 51 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (100 10 (:REWRITE POSITIVE-TO-ONE))
 (100 10 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (88 5 (:REWRITE EVENT-FOR-UAV-N))
 (81 5 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (81 5 (:REWRITE EVENT-FOR-UAV-LEFT))
 (81 5 (:REWRITE EVENT-FOR-UAV-0))
 (65 65 (:REWRITE DEFAULT-CAR))
 (63 21 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (52 52 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (52 52 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (48 48 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (48 48 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (48 48 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (48 24 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (45 5 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (31 31 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (30 2 (:LINEAR POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (27 27 (:META *META*-BETA-REDUCE-HIDE))
 (26 26 (:REWRITE OPEN-UAV-LIST-FIX))
 (23 5 (:REWRITE POSITIVE-SUM))
 (20 20 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (16 2 (:REWRITE FLIP-ON-EVENTS-INVARIANTS))
 (13 13 (:DEFINITION RETURN-LAST))
 (11 5 (:DEFINITION NATP))
 (11 4 (:REWRITE ITH-UAV-VAL-1-NEXT-STEP))
 (10 10 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (10 10 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (10 10 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (8 2 (:REWRITE WF-ENSEMBLE-IMPLIES-ESCORT-CONDITION-FLIP-ON-EVENTS))
 (6 3 (:LINEAR POSP-N))
 (6 2 (:REWRITE ASSOCIATIVITY-OF-+))
 (5 5 (:TYPE-PRESCRIPTION NATP))
 (4 4 (:REWRITE UAV-ID-P-CONSTANT))
 (4 4 (:REWRITE UAV-ID-FIX-CONSTANT))
 (4 4 (:REWRITE T-IMPLIES-NNRAT-P-NNRAT-FIX))
 (3 3 (:TYPE-PRESCRIPTION UAV-P))
 (3 3 (:REWRITE FOLD-CONSTS-IN-+))
 (3 3 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (2 2 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 )
(UAV-ID-EQUIV-1-IMPLIES-EQUAL-TIME-TO-EVENT
 (12410 50 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (10892 6 (:DEFINITION STEP-TIME-DOMAIN-DEFINITION))
 (10486 1332 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (10398 16 (:DEFINITION |STEP-TIME-test|))
 (9754 16 (:REWRITE DEFUNG::OPEN-TRUE))
 (9486 412 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (8908 12 (:REWRITE STEP-TIME-DOMAIN-TRUE))
 (7962 126 (:DEFINITION LEN))
 (7796 84 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (6382 424 (:DEFINITION UAV-LIST-P))
 (5214 554 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (1650 1650 (:TYPE-PRESCRIPTION WF-ENSEMBLE))
 (1348 428 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (974 974 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (806 806 (:REWRITE DEFAULT-CDR))
 (800 8 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (612 50 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (586 194 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (528 260 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (432 432 (:TYPE-PRESCRIPTION UAV-P))
 (428 428 (:REWRITE DEFAULT-CAR))
 (406 24 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (378 378 (:TYPE-PRESCRIPTION LEN))
 (330 330 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (316 4 (:DEFINITION UAV-LIST-FIX$INLINE))
 (284 260 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (216 216 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (144 72 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (132 132 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (124 6 (:REWRITE EVENT-FOR-UAV-N))
 (120 12 (:REWRITE POSITIVE-TO-ONE))
 (120 12 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (116 4 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (98 6 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (98 6 (:REWRITE EVENT-FOR-UAV-LEFT))
 (98 6 (:REWRITE EVENT-FOR-UAV-0))
 (96 48 (:LINEAR POSP-N))
 (92 78 (:REWRITE OPEN-UAV-LIST-FIX))
 (92 22 (:REWRITE RATIONALP-+))
 (84 84 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (84 84 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (72 24 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (72 6 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (64 64 (:REWRITE T-T-IMPLIES-RATIONALP-UAV-LIST-P-NEXT-STEP))
 (60 30 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (56 56 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (56 56 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (56 56 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (48 48 (:TYPE-PRESCRIPTION ESCORT-CONDITION))
 (48 48 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (44 44 (:REWRITE UAV-LIST-FIX-UNDER-UAV-LIST-EQUIV))
 (34 8 (:REWRITE ITH-UAV-VAL-1-NEXT-STEP))
 (32 32 (:META *META*-BETA-REDUCE-HIDE))
 (30 6 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (24 24 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (16 16 (:REWRITE NNRAT-EQUIV-OF-NNRAT-FIX))
 (16 16 (:DEFINITION THROW-NONEXEC-ERROR))
 (16 16 (:DEFINITION RETURN-LAST))
 (16 10 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (16 8 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (12 12 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (12 12 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (12 12 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (12 4 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (8 8 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (6 6 (:REWRITE UAV-ID-FIX-CONSTANT))
 (6 6 (:REWRITE OPEN-STEP-TIME-DOMAIN))
 (4 4 (:REWRITE UAV-ID-P-CONSTANT))
 (2 2 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION NATP-UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV-ID-FIX))
 (2 2 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 (1 1 (:REWRITE UAV-ID-EQUIV-TO-DOUBLE-CONTAINMENT))
 )
(NNRAT-EQUIV-2-IMPLIES-EQUAL-TIME-TO-EVENT
 (12410 50 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (10892 6 (:DEFINITION STEP-TIME-DOMAIN-DEFINITION))
 (10486 1332 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (10398 16 (:DEFINITION |STEP-TIME-test|))
 (9754 16 (:REWRITE DEFUNG::OPEN-TRUE))
 (9486 412 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (8908 12 (:REWRITE STEP-TIME-DOMAIN-TRUE))
 (7962 126 (:DEFINITION LEN))
 (7796 84 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (6382 424 (:DEFINITION UAV-LIST-P))
 (5214 554 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (1650 1650 (:TYPE-PRESCRIPTION WF-ENSEMBLE))
 (1348 428 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (974 974 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (806 806 (:REWRITE DEFAULT-CDR))
 (800 8 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (612 50 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (586 194 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (528 260 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (432 432 (:TYPE-PRESCRIPTION UAV-P))
 (428 428 (:REWRITE DEFAULT-CAR))
 (406 24 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (378 378 (:TYPE-PRESCRIPTION LEN))
 (330 330 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (316 4 (:DEFINITION UAV-LIST-FIX$INLINE))
 (284 260 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (216 216 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (144 72 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (132 132 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (124 6 (:REWRITE EVENT-FOR-UAV-N))
 (120 12 (:REWRITE POSITIVE-TO-ONE))
 (120 12 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (116 4 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (98 6 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (98 6 (:REWRITE EVENT-FOR-UAV-LEFT))
 (98 6 (:REWRITE EVENT-FOR-UAV-0))
 (96 48 (:LINEAR POSP-N))
 (92 78 (:REWRITE OPEN-UAV-LIST-FIX))
 (92 22 (:REWRITE RATIONALP-+))
 (84 84 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (84 84 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (72 24 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (72 6 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (64 64 (:REWRITE T-T-IMPLIES-RATIONALP-UAV-LIST-P-NEXT-STEP))
 (60 30 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (56 56 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (56 56 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (56 56 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (48 48 (:TYPE-PRESCRIPTION ESCORT-CONDITION))
 (48 48 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (44 44 (:REWRITE UAV-LIST-FIX-UNDER-UAV-LIST-EQUIV))
 (34 8 (:REWRITE ITH-UAV-VAL-1-NEXT-STEP))
 (30 6 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (24 24 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (16 16 (:REWRITE NNRAT-EQUIV-OF-NNRAT-FIX))
 (16 16 (:DEFINITION THROW-NONEXEC-ERROR))
 (16 16 (:DEFINITION RETURN-LAST))
 (16 10 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (16 8 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (12 12 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (12 12 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (12 12 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (12 4 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (8 8 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (6 6 (:REWRITE UAV-ID-FIX-CONSTANT))
 (6 6 (:REWRITE OPEN-STEP-TIME-DOMAIN))
 (4 4 (:REWRITE UAV-ID-P-CONSTANT))
 (2 2 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION NATP-UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV-ID-FIX))
 (2 2 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 )
(UAV-LIST-EQUIV-3-IMPLIES-EQUAL-TIME-TO-EVENT
 (12410 50 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (10892 6 (:DEFINITION STEP-TIME-DOMAIN-DEFINITION))
 (10486 1332 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (10398 16 (:DEFINITION |STEP-TIME-test|))
 (9754 16 (:REWRITE DEFUNG::OPEN-TRUE))
 (9486 412 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (8908 12 (:REWRITE STEP-TIME-DOMAIN-TRUE))
 (7962 126 (:DEFINITION LEN))
 (7796 84 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (6382 424 (:DEFINITION UAV-LIST-P))
 (5214 554 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (1650 1650 (:TYPE-PRESCRIPTION WF-ENSEMBLE))
 (1348 428 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (974 974 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (808 808 (:REWRITE DEFAULT-CDR))
 (800 8 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (612 50 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (586 194 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (528 260 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (432 432 (:TYPE-PRESCRIPTION UAV-P))
 (430 430 (:REWRITE DEFAULT-CAR))
 (406 24 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (378 378 (:TYPE-PRESCRIPTION LEN))
 (330 330 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (316 4 (:DEFINITION UAV-LIST-FIX$INLINE))
 (284 260 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (216 216 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (144 72 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (132 132 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (124 6 (:REWRITE EVENT-FOR-UAV-N))
 (120 12 (:REWRITE POSITIVE-TO-ONE))
 (120 12 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (116 4 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (98 6 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (98 6 (:REWRITE EVENT-FOR-UAV-LEFT))
 (98 6 (:REWRITE EVENT-FOR-UAV-0))
 (96 48 (:LINEAR POSP-N))
 (92 78 (:REWRITE OPEN-UAV-LIST-FIX))
 (92 22 (:REWRITE RATIONALP-+))
 (84 84 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (84 84 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (72 24 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (72 6 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (64 64 (:REWRITE T-T-IMPLIES-RATIONALP-UAV-LIST-P-NEXT-STEP))
 (60 30 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (56 56 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (56 56 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (56 56 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (48 48 (:TYPE-PRESCRIPTION ESCORT-CONDITION))
 (48 48 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (44 44 (:REWRITE UAV-LIST-FIX-UNDER-UAV-LIST-EQUIV))
 (34 8 (:REWRITE ITH-UAV-VAL-1-NEXT-STEP))
 (32 32 (:META *META*-BETA-REDUCE-HIDE))
 (30 6 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (24 24 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (16 16 (:REWRITE NNRAT-EQUIV-OF-NNRAT-FIX))
 (16 16 (:DEFINITION THROW-NONEXEC-ERROR))
 (16 16 (:DEFINITION RETURN-LAST))
 (16 10 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (16 8 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (12 12 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (12 12 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (12 12 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (12 4 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (8 8 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (6 6 (:REWRITE UAV-ID-FIX-CONSTANT))
 (6 6 (:REWRITE OPEN-STEP-TIME-DOMAIN))
 (6 1 (:DEFINITION OPEN-UAV-LIST-EQUIV))
 (4 4 (:REWRITE UAV-ID-P-CONSTANT))
 (2 2 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION NATP-UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV-ID-FIX))
 (2 2 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 (1 1 (:REWRITE UAV-EXTENSIONALITY-REWRITE))
 )
(LTE-TIME-TO-EVENT
 (27758 142 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (23628 3089 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (22609 6 (:DEFINITION STEP-TIME-MEASURE-DEFINITION))
 (21145 1069 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (17446 198 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (16947 297 (:DEFINITION LEN))
 (14778 980 (:DEFINITION UAV-LIST-P))
 (11171 1299 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (3294 1002 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (2257 2257 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (1893 1893 (:REWRITE DEFAULT-CDR))
 (1886 90 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (1738 22 (:DEFINITION UAV-LIST-FIX$INLINE))
 (1206 600 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (1024 1024 (:TYPE-PRESCRIPTION UAV-P))
 (1002 1002 (:REWRITE DEFAULT-CAR))
 (891 891 (:TYPE-PRESCRIPTION LEN))
 (642 642 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (638 22 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (618 600 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (558 21 (:LINEAR POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (500 58 (:REWRITE POSITIVE-SUM))
 (466 6 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (412 412 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (411 21 (:REWRITE FLIP-ON-EVENTS-INVARIANTS))
 (305 48 (:DEFINITION NATP))
 (270 90 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (238 119 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (206 103 (:LINEAR POSP-N))
 (198 198 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (198 198 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (198 190 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (190 190 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (190 190 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (144 144 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (128 128 (:REWRITE OPEN-UAV-LIST-FIX))
 (103 103 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (84 21 (:REWRITE WF-ENSEMBLE-IMPLIES-ESCORT-CONDITION-FLIP-ON-EVENTS))
 (80 8 (:REWRITE POSITIVE-TO-ONE))
 (80 8 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (64 4 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (64 4 (:REWRITE EVENT-FOR-UAV-N))
 (64 4 (:REWRITE EVENT-FOR-UAV-LEFT))
 (64 4 (:REWRITE EVENT-FOR-UAV-0))
 (48 48 (:TYPE-PRESCRIPTION NATP))
 (48 4 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (35 3 (:REWRITE O<=-O-FINP-DEF))
 (32 16 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (26 26 (:REWRITE UAV-LIST-P-OF-UAV-LIST-FIX))
 (26 26 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (21 21 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (16 16 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (15 5 (:REWRITE ASSOCIATIVITY-OF-+))
 (12 6 (:REWRITE RATIONALP-+))
 (12 6 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (10 10 (:REWRITE FOLD-CONSTS-IN-+))
 (10 10 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (10 2 (:REWRITE O-FIRST-EXPT-<))
 (8 8 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (8 8 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (8 3 (:REWRITE AC-<))
 (6 6 (:TYPE-PRESCRIPTION DEFUNG::TRUE-FROM-X))
 (6 6 (:TYPE-PRESCRIPTION DEFUNG::NOT-TRUE-FROM-NOT-X))
 (6 6 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (6 3 (:REWRITE O-INFP-O-FINP-O<=))
 (6 3 (:REWRITE O-FIRST-EXPT-DEF-O-FINP))
 (3 3 (:REWRITE |a < b & b < c  =>  a < c|))
 (3 2 (:REWRITE O-FIRST-COEFF-<))
 )
(T-T-T-IMPLIES-BOOLEANP-LTE-TIME-TO-EVENT)
(LTE-TIME-TO-EVENT
 (26 26 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (2 2 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 )
(UAV-ID-EQUIV-1-IMPLIES-EQUAL-LTE-TIME-TO-EVENT
 (12404 44 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (10892 6 (:DEFINITION STEP-TIME-DOMAIN-DEFINITION))
 (10486 1332 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (10398 16 (:DEFINITION |STEP-TIME-test|))
 (9754 16 (:REWRITE DEFUNG::OPEN-TRUE))
 (9486 412 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (8908 12 (:REWRITE STEP-TIME-DOMAIN-TRUE))
 (7962 126 (:DEFINITION LEN))
 (7796 84 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (6382 424 (:DEFINITION UAV-LIST-P))
 (5214 554 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (1650 1650 (:TYPE-PRESCRIPTION WF-ENSEMBLE))
 (1348 428 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (974 974 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (806 806 (:REWRITE DEFAULT-CDR))
 (800 8 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (612 50 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (586 194 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (528 260 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (432 432 (:TYPE-PRESCRIPTION UAV-P))
 (428 428 (:REWRITE DEFAULT-CAR))
 (406 24 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (378 378 (:TYPE-PRESCRIPTION LEN))
 (330 330 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (316 4 (:DEFINITION UAV-LIST-FIX$INLINE))
 (284 260 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (216 216 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (144 72 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (132 132 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (124 6 (:REWRITE EVENT-FOR-UAV-N))
 (120 12 (:REWRITE POSITIVE-TO-ONE))
 (120 12 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (116 4 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (98 6 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (98 6 (:REWRITE EVENT-FOR-UAV-LEFT))
 (98 6 (:REWRITE EVENT-FOR-UAV-0))
 (96 48 (:LINEAR POSP-N))
 (92 78 (:REWRITE OPEN-UAV-LIST-FIX))
 (92 22 (:REWRITE RATIONALP-+))
 (84 84 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (84 84 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (72 24 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (72 6 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (64 64 (:REWRITE T-T-IMPLIES-RATIONALP-UAV-LIST-P-NEXT-STEP))
 (60 30 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (48 48 (:TYPE-PRESCRIPTION ESCORT-CONDITION))
 (48 48 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (44 44 (:REWRITE UAV-LIST-FIX-UNDER-UAV-LIST-EQUIV))
 (34 8 (:REWRITE ITH-UAV-VAL-1-NEXT-STEP))
 (32 32 (:META *META*-BETA-REDUCE-HIDE))
 (30 6 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (24 24 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (16 16 (:REWRITE NNRAT-EQUIV-OF-NNRAT-FIX))
 (16 16 (:DEFINITION THROW-NONEXEC-ERROR))
 (16 16 (:DEFINITION RETURN-LAST))
 (16 10 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (16 8 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (12 12 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (12 12 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (12 12 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (12 4 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (8 8 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (6 6 (:REWRITE UAV-ID-FIX-CONSTANT))
 (6 6 (:REWRITE OPEN-STEP-TIME-DOMAIN))
 (4 4 (:REWRITE UAV-ID-P-CONSTANT))
 (2 2 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION NATP-UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV-ID-FIX))
 (2 2 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 (1 1 (:REWRITE UAV-ID-EQUIV-TO-DOUBLE-CONTAINMENT))
 )
(NNRAT-EQUIV-2-IMPLIES-EQUAL-LTE-TIME-TO-EVENT
 (12404 44 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (10892 6 (:DEFINITION STEP-TIME-DOMAIN-DEFINITION))
 (10486 1332 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (10398 16 (:DEFINITION |STEP-TIME-test|))
 (9754 16 (:REWRITE DEFUNG::OPEN-TRUE))
 (9486 412 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (8908 12 (:REWRITE STEP-TIME-DOMAIN-TRUE))
 (7962 126 (:DEFINITION LEN))
 (7796 84 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (6382 424 (:DEFINITION UAV-LIST-P))
 (5214 554 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (1650 1650 (:TYPE-PRESCRIPTION WF-ENSEMBLE))
 (1348 428 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (974 974 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (806 806 (:REWRITE DEFAULT-CDR))
 (800 8 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (612 50 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (586 194 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (528 260 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (432 432 (:TYPE-PRESCRIPTION UAV-P))
 (428 428 (:REWRITE DEFAULT-CAR))
 (406 24 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (378 378 (:TYPE-PRESCRIPTION LEN))
 (330 330 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (316 4 (:DEFINITION UAV-LIST-FIX$INLINE))
 (284 260 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (216 216 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (144 72 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (132 132 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (124 6 (:REWRITE EVENT-FOR-UAV-N))
 (120 12 (:REWRITE POSITIVE-TO-ONE))
 (120 12 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (116 4 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (98 6 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (98 6 (:REWRITE EVENT-FOR-UAV-LEFT))
 (98 6 (:REWRITE EVENT-FOR-UAV-0))
 (96 48 (:LINEAR POSP-N))
 (92 78 (:REWRITE OPEN-UAV-LIST-FIX))
 (92 22 (:REWRITE RATIONALP-+))
 (84 84 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (84 84 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (72 24 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (72 6 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (64 64 (:REWRITE T-T-IMPLIES-RATIONALP-UAV-LIST-P-NEXT-STEP))
 (60 30 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (48 48 (:TYPE-PRESCRIPTION ESCORT-CONDITION))
 (48 48 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (44 44 (:REWRITE UAV-LIST-FIX-UNDER-UAV-LIST-EQUIV))
 (34 8 (:REWRITE ITH-UAV-VAL-1-NEXT-STEP))
 (30 6 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (24 24 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (16 16 (:REWRITE NNRAT-EQUIV-OF-NNRAT-FIX))
 (16 16 (:DEFINITION THROW-NONEXEC-ERROR))
 (16 16 (:DEFINITION RETURN-LAST))
 (16 10 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (16 8 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (12 12 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (12 12 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (12 12 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (12 4 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (8 8 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (6 6 (:REWRITE UAV-ID-FIX-CONSTANT))
 (6 6 (:REWRITE OPEN-STEP-TIME-DOMAIN))
 (4 4 (:REWRITE UAV-ID-P-CONSTANT))
 (2 2 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION NATP-UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV-ID-FIX))
 (2 2 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 )
(UAV-LIST-EQUIV-3-IMPLIES-EQUAL-LTE-TIME-TO-EVENT
 (12404 44 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (10892 6 (:DEFINITION STEP-TIME-DOMAIN-DEFINITION))
 (10486 1332 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (10398 16 (:DEFINITION |STEP-TIME-test|))
 (9754 16 (:REWRITE DEFUNG::OPEN-TRUE))
 (9486 412 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (8908 12 (:REWRITE STEP-TIME-DOMAIN-TRUE))
 (7962 126 (:DEFINITION LEN))
 (7796 84 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (6382 424 (:DEFINITION UAV-LIST-P))
 (5214 554 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (1650 1650 (:TYPE-PRESCRIPTION WF-ENSEMBLE))
 (1348 428 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (974 974 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (808 808 (:REWRITE DEFAULT-CDR))
 (800 8 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (612 50 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (586 194 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (528 260 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (432 432 (:TYPE-PRESCRIPTION UAV-P))
 (430 430 (:REWRITE DEFAULT-CAR))
 (406 24 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (378 378 (:TYPE-PRESCRIPTION LEN))
 (330 330 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (316 4 (:DEFINITION UAV-LIST-FIX$INLINE))
 (284 260 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (216 216 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (144 72 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (132 132 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (124 6 (:REWRITE EVENT-FOR-UAV-N))
 (120 12 (:REWRITE POSITIVE-TO-ONE))
 (120 12 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (116 4 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (98 6 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (98 6 (:REWRITE EVENT-FOR-UAV-LEFT))
 (98 6 (:REWRITE EVENT-FOR-UAV-0))
 (96 48 (:LINEAR POSP-N))
 (92 78 (:REWRITE OPEN-UAV-LIST-FIX))
 (92 22 (:REWRITE RATIONALP-+))
 (84 84 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (84 84 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (72 24 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (72 6 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (64 64 (:REWRITE T-T-IMPLIES-RATIONALP-UAV-LIST-P-NEXT-STEP))
 (60 30 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (48 48 (:TYPE-PRESCRIPTION ESCORT-CONDITION))
 (48 48 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (44 44 (:REWRITE UAV-LIST-FIX-UNDER-UAV-LIST-EQUIV))
 (34 8 (:REWRITE ITH-UAV-VAL-1-NEXT-STEP))
 (32 32 (:META *META*-BETA-REDUCE-HIDE))
 (30 6 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (24 24 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (16 16 (:REWRITE NNRAT-EQUIV-OF-NNRAT-FIX))
 (16 16 (:DEFINITION THROW-NONEXEC-ERROR))
 (16 16 (:DEFINITION RETURN-LAST))
 (16 10 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (16 8 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (12 12 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (12 12 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (12 12 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (12 4 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (8 8 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (6 6 (:REWRITE UAV-ID-FIX-CONSTANT))
 (6 6 (:REWRITE OPEN-STEP-TIME-DOMAIN))
 (6 1 (:DEFINITION OPEN-UAV-LIST-EQUIV))
 (4 4 (:REWRITE UAV-ID-P-CONSTANT))
 (2 2 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION NATP-UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV-ID-FIX))
 (2 2 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 (1 1 (:REWRITE UAV-EXTENSIONALITY-REWRITE))
 )
(LT-TIME-TO-EVENT
 (27758 142 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (23628 3089 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (22609 6 (:DEFINITION STEP-TIME-MEASURE-DEFINITION))
 (21145 1069 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (17446 198 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (16947 297 (:DEFINITION LEN))
 (14778 980 (:DEFINITION UAV-LIST-P))
 (11171 1299 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (3294 1002 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (2257 2257 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (1893 1893 (:REWRITE DEFAULT-CDR))
 (1886 90 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (1738 22 (:DEFINITION UAV-LIST-FIX$INLINE))
 (1206 600 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (1024 1024 (:TYPE-PRESCRIPTION UAV-P))
 (1002 1002 (:REWRITE DEFAULT-CAR))
 (891 891 (:TYPE-PRESCRIPTION LEN))
 (642 642 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (638 22 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (618 600 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (558 21 (:LINEAR POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (500 58 (:REWRITE POSITIVE-SUM))
 (466 6 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (412 412 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (411 21 (:REWRITE FLIP-ON-EVENTS-INVARIANTS))
 (305 48 (:DEFINITION NATP))
 (270 90 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (238 119 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (206 103 (:LINEAR POSP-N))
 (198 198 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (198 198 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (198 190 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (190 190 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (190 190 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (144 144 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (128 128 (:REWRITE OPEN-UAV-LIST-FIX))
 (103 103 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (84 21 (:REWRITE WF-ENSEMBLE-IMPLIES-ESCORT-CONDITION-FLIP-ON-EVENTS))
 (80 8 (:REWRITE POSITIVE-TO-ONE))
 (80 8 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (64 4 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (64 4 (:REWRITE EVENT-FOR-UAV-N))
 (64 4 (:REWRITE EVENT-FOR-UAV-LEFT))
 (64 4 (:REWRITE EVENT-FOR-UAV-0))
 (48 48 (:TYPE-PRESCRIPTION NATP))
 (48 4 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (35 3 (:REWRITE O<=-O-FINP-DEF))
 (32 16 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (26 26 (:REWRITE UAV-LIST-P-OF-UAV-LIST-FIX))
 (26 26 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (21 21 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (16 16 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (15 5 (:REWRITE ASSOCIATIVITY-OF-+))
 (12 6 (:REWRITE RATIONALP-+))
 (12 6 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (10 10 (:REWRITE FOLD-CONSTS-IN-+))
 (10 10 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (10 2 (:REWRITE O-FIRST-EXPT-<))
 (8 8 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (8 8 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (8 3 (:REWRITE AC-<))
 (6 6 (:TYPE-PRESCRIPTION DEFUNG::TRUE-FROM-X))
 (6 6 (:TYPE-PRESCRIPTION DEFUNG::NOT-TRUE-FROM-NOT-X))
 (6 6 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (6 3 (:REWRITE O-INFP-O-FINP-O<=))
 (6 3 (:REWRITE O-FIRST-EXPT-DEF-O-FINP))
 (3 3 (:REWRITE |a < b & b < c  =>  a < c|))
 (3 2 (:REWRITE O-FIRST-COEFF-<))
 )
(T-T-T-IMPLIES-BOOLEANP-LT-TIME-TO-EVENT)
(LT-TIME-TO-EVENT
 (26 26 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (2 2 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 )
(UAV-ID-EQUIV-1-IMPLIES-EQUAL-LT-TIME-TO-EVENT
 (12404 44 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (10892 6 (:DEFINITION STEP-TIME-DOMAIN-DEFINITION))
 (10486 1332 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (10398 16 (:DEFINITION |STEP-TIME-test|))
 (9754 16 (:REWRITE DEFUNG::OPEN-TRUE))
 (9486 412 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (8908 12 (:REWRITE STEP-TIME-DOMAIN-TRUE))
 (7962 126 (:DEFINITION LEN))
 (7796 84 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (6382 424 (:DEFINITION UAV-LIST-P))
 (5214 554 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (1650 1650 (:TYPE-PRESCRIPTION WF-ENSEMBLE))
 (1348 428 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (974 974 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (806 806 (:REWRITE DEFAULT-CDR))
 (800 8 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (612 50 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (586 194 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (528 260 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (432 432 (:TYPE-PRESCRIPTION UAV-P))
 (428 428 (:REWRITE DEFAULT-CAR))
 (406 24 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (378 378 (:TYPE-PRESCRIPTION LEN))
 (330 330 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (316 4 (:DEFINITION UAV-LIST-FIX$INLINE))
 (284 260 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (216 216 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (144 72 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (132 132 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (124 6 (:REWRITE EVENT-FOR-UAV-N))
 (120 12 (:REWRITE POSITIVE-TO-ONE))
 (120 12 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (116 4 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (98 6 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (98 6 (:REWRITE EVENT-FOR-UAV-LEFT))
 (98 6 (:REWRITE EVENT-FOR-UAV-0))
 (96 48 (:LINEAR POSP-N))
 (92 78 (:REWRITE OPEN-UAV-LIST-FIX))
 (92 22 (:REWRITE RATIONALP-+))
 (84 84 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (84 84 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (72 24 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (72 6 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (64 64 (:REWRITE T-T-IMPLIES-RATIONALP-UAV-LIST-P-NEXT-STEP))
 (60 30 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (48 48 (:TYPE-PRESCRIPTION ESCORT-CONDITION))
 (48 48 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (44 44 (:REWRITE UAV-LIST-FIX-UNDER-UAV-LIST-EQUIV))
 (34 8 (:REWRITE ITH-UAV-VAL-1-NEXT-STEP))
 (32 32 (:META *META*-BETA-REDUCE-HIDE))
 (30 6 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (24 24 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (16 16 (:REWRITE NNRAT-EQUIV-OF-NNRAT-FIX))
 (16 16 (:DEFINITION THROW-NONEXEC-ERROR))
 (16 16 (:DEFINITION RETURN-LAST))
 (16 10 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (16 8 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (12 12 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (12 12 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (12 12 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (12 4 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (8 8 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (6 6 (:REWRITE UAV-ID-FIX-CONSTANT))
 (6 6 (:REWRITE OPEN-STEP-TIME-DOMAIN))
 (4 4 (:REWRITE UAV-ID-P-CONSTANT))
 (2 2 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION NATP-UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV-ID-FIX))
 (2 2 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 (1 1 (:REWRITE UAV-ID-EQUIV-TO-DOUBLE-CONTAINMENT))
 )
(NNRAT-EQUIV-2-IMPLIES-EQUAL-LT-TIME-TO-EVENT
 (12404 44 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (10892 6 (:DEFINITION STEP-TIME-DOMAIN-DEFINITION))
 (10486 1332 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (10398 16 (:DEFINITION |STEP-TIME-test|))
 (9754 16 (:REWRITE DEFUNG::OPEN-TRUE))
 (9486 412 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (8908 12 (:REWRITE STEP-TIME-DOMAIN-TRUE))
 (7962 126 (:DEFINITION LEN))
 (7796 84 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (6382 424 (:DEFINITION UAV-LIST-P))
 (5214 554 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (1650 1650 (:TYPE-PRESCRIPTION WF-ENSEMBLE))
 (1348 428 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (974 974 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (806 806 (:REWRITE DEFAULT-CDR))
 (800 8 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (612 50 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (586 194 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (528 260 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (432 432 (:TYPE-PRESCRIPTION UAV-P))
 (428 428 (:REWRITE DEFAULT-CAR))
 (406 24 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (378 378 (:TYPE-PRESCRIPTION LEN))
 (330 330 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (316 4 (:DEFINITION UAV-LIST-FIX$INLINE))
 (284 260 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (216 216 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (144 72 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (132 132 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (124 6 (:REWRITE EVENT-FOR-UAV-N))
 (120 12 (:REWRITE POSITIVE-TO-ONE))
 (120 12 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (116 4 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (98 6 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (98 6 (:REWRITE EVENT-FOR-UAV-LEFT))
 (98 6 (:REWRITE EVENT-FOR-UAV-0))
 (96 48 (:LINEAR POSP-N))
 (92 78 (:REWRITE OPEN-UAV-LIST-FIX))
 (92 22 (:REWRITE RATIONALP-+))
 (84 84 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (84 84 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (72 24 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (72 6 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (64 64 (:REWRITE T-T-IMPLIES-RATIONALP-UAV-LIST-P-NEXT-STEP))
 (60 30 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (48 48 (:TYPE-PRESCRIPTION ESCORT-CONDITION))
 (48 48 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (44 44 (:REWRITE UAV-LIST-FIX-UNDER-UAV-LIST-EQUIV))
 (34 8 (:REWRITE ITH-UAV-VAL-1-NEXT-STEP))
 (30 6 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (24 24 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (16 16 (:REWRITE NNRAT-EQUIV-OF-NNRAT-FIX))
 (16 16 (:DEFINITION THROW-NONEXEC-ERROR))
 (16 16 (:DEFINITION RETURN-LAST))
 (16 10 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (16 8 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (12 12 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (12 12 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (12 12 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (12 4 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (8 8 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (6 6 (:REWRITE UAV-ID-FIX-CONSTANT))
 (6 6 (:REWRITE OPEN-STEP-TIME-DOMAIN))
 (4 4 (:REWRITE UAV-ID-P-CONSTANT))
 (2 2 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION NATP-UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV-ID-FIX))
 (2 2 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 )
(UAV-LIST-EQUIV-3-IMPLIES-EQUAL-LT-TIME-TO-EVENT
 (12404 44 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (10892 6 (:DEFINITION STEP-TIME-DOMAIN-DEFINITION))
 (10486 1332 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (10398 16 (:DEFINITION |STEP-TIME-test|))
 (9754 16 (:REWRITE DEFUNG::OPEN-TRUE))
 (9486 412 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (8908 12 (:REWRITE STEP-TIME-DOMAIN-TRUE))
 (7962 126 (:DEFINITION LEN))
 (7796 84 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (6382 424 (:DEFINITION UAV-LIST-P))
 (5214 554 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (1650 1650 (:TYPE-PRESCRIPTION WF-ENSEMBLE))
 (1348 428 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (974 974 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (808 808 (:REWRITE DEFAULT-CDR))
 (800 8 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (612 50 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (586 194 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (528 260 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (432 432 (:TYPE-PRESCRIPTION UAV-P))
 (430 430 (:REWRITE DEFAULT-CAR))
 (406 24 (:REWRITE T-WF-ENSEMBLE-IMPLIES-T-WF-ENSEMBLE-NEXT-STEP))
 (378 378 (:TYPE-PRESCRIPTION LEN))
 (330 330 (:TYPE-PRESCRIPTION POSITIVE-COUNT))
 (316 4 (:DEFINITION UAV-LIST-FIX$INLINE))
 (284 260 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (216 216 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (144 72 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (132 132 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (124 6 (:REWRITE EVENT-FOR-UAV-N))
 (120 12 (:REWRITE POSITIVE-TO-ONE))
 (120 12 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (116 4 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (98 6 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (98 6 (:REWRITE EVENT-FOR-UAV-LEFT))
 (98 6 (:REWRITE EVENT-FOR-UAV-0))
 (96 48 (:LINEAR POSP-N))
 (92 78 (:REWRITE OPEN-UAV-LIST-FIX))
 (92 22 (:REWRITE RATIONALP-+))
 (84 84 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (84 84 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (72 24 (:REWRITE WF-ENSEMBLE-VAL-1-NEXT-STEP))
 (72 6 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (64 64 (:REWRITE T-T-IMPLIES-RATIONALP-UAV-LIST-P-NEXT-STEP))
 (60 30 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (50 50 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (48 48 (:TYPE-PRESCRIPTION ESCORT-CONDITION))
 (48 48 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (44 44 (:REWRITE UAV-LIST-FIX-UNDER-UAV-LIST-EQUIV))
 (34 8 (:REWRITE ITH-UAV-VAL-1-NEXT-STEP))
 (32 32 (:META *META*-BETA-REDUCE-HIDE))
 (30 6 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (24 24 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (16 16 (:REWRITE NNRAT-EQUIV-OF-NNRAT-FIX))
 (16 16 (:DEFINITION THROW-NONEXEC-ERROR))
 (16 16 (:DEFINITION RETURN-LAST))
 (16 10 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (16 8 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (12 12 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (12 12 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (12 12 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (12 4 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION UAV-ID-P))
 (10 10 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (8 8 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (6 6 (:REWRITE UAV-ID-FIX-CONSTANT))
 (6 6 (:REWRITE OPEN-STEP-TIME-DOMAIN))
 (6 1 (:DEFINITION OPEN-UAV-LIST-EQUIV))
 (4 4 (:REWRITE UAV-ID-P-CONSTANT))
 (2 2 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION NATP-UAV-ID-FIX))
 (2 2 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV-ID-FIX))
 (2 2 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 (1 1 (:REWRITE UAV-EXTENSIONALITY-REWRITE))
 )
(ITH-UAV-STEP-TIME-LTE-TIME-TO-EVENT
 (390831 2224 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (309289 225 (:REWRITE LTE-MIN-TIME-TO-IMPACT-IMPLIES-LTE-TIME-TO-IMPACT))
 (184331 162 (:REWRITE IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL-STRONG))
 (152365 7049 (:REWRITE EVENT-FOR-UAV-N))
 (122378 1139 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (122324 99 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-LT-CHAINING))
 (120663 1213 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (102163 7049 (:REWRITE EVENT-FOR-UAV-0))
 (87361 7049 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (85522 439 (:LINEAR POSITIVE-MIN-TIME-TO-IMPACT-FOR-UAV))
 (84622 439 (:LINEAR NNEG-MIN-TIME-TO-IMPACT-FOR-UAV))
 (75391 92 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-LEFT))
 (61957 513 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST))
 (59466 29733 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (56022 816 (:DEFINITION =))
 (51941 92 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-RIGHT))
 (42789 137 (:REWRITE MIN-TIME-TO-IMPACT-DECREASES-WITH-UPDATE-LOCATION))
 (38299 223 (:REWRITE EVENT-FOR-UAV-IMPLIES-IMPENDING-EVENT-FOR-UAV))
 (28981 13701 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (27975 3100 (:REWRITE POSITIVE-TO-ONE))
 (27961 102 (:DEFINITION STEP-TIME-DEFINITION))
 (25422 88 (:REWRITE NOT-IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL-INVARIANT-AWKWARD))
 (24681 7049 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (19896 162 (:REWRITE IMMINENT-EVENT-IMPLIES-IMPACT-EVENT))
 (15826 2087 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (15771 5257 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (14026 1634 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (9589 2829 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (6902 6814 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (6814 6814 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (6814 6814 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (5949 2087 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY-TOO))
 (5949 2087 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY))
 (5949 2087 (:REWRITE MIN-TIME-TO-IMPACT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (5717 1078 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (5113 102 (:DEFINITION |STEP-TIME-base|))
 (3748 1330 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (3600 1846 (:REWRITE DEFAULT-CDR))
 (3359 225 (:REWRITE CHASING-NEIGHBOR-IS-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (2898 322 (:REWRITE EQUAL-SUM-TO-UAV-ID-EQUIV))
 (2794 2794 (:TYPE-PRESCRIPTION IMPENDING-IMPACT-EVENT-FOR-UAV))
 (2682 1339 (:REWRITE DEFAULT-CAR))
 (2629 501 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (2527 2527 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (2431 2431 (:TYPE-PRESCRIPTION IMPACT-EVENT-FOR-UAV))
 (2188 74 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-STILL-PENDING))
 (1870 461 (:REWRITE IMPLIES-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (1796 136 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (1539 513 (:LINEAR FLIP-ON-EVENTS-IS-CLOSER-TO-EVENT-LINEAR))
 (1504 89 (:DEFINITION UAV-LIST-P))
 (1408 64 (:REWRITE RATIONALP-+))
 (960 960 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (939 3 (:DEFINITION LEN))
 (909 501 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (848 288 (:REWRITE IMPENDING-ESCORT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (846 3 (:REWRITE EVENT-FOR-UAV-UPDATE-LOCATION-ALL))
 (818 136 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (817 817 (:REWRITE HELPER-RULE))
 (669 223 (:REWRITE IMPENDING-EVENT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (640 64 (:REWRITE RATIONALP-*))
 (638 102 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (510 150 (:REWRITE UPDATE-LOCATION-ALL-ZERO))
 (501 4 (:DEFINITION UAV-LIST-FIX$INLINE))
 (495 495 (:REWRITE <-C-UAV-ID-FIX-REWRITE-0))
 (440 88 (:REWRITE NOT-EQUAL-ALWAYS-SMALLEST-MEANS-GREATER))
 (440 88 (:REWRITE LESS-THAN-LEAST-IMPLIES-LESS-THAN-ANY))
 (354 74 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLIES-LT-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (322 322 (:REWRITE PLUS-EQUAL-N-TO-EQUIV-N-MINUS-1))
 (322 322 (:REWRITE <-UAV-ID-FIX-N-REWRITE-1))
 (318 318 (:REWRITE FOLD-CONSTS-IN-+))
 (318 318 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (318 279 (:REWRITE LEN-UPDATE-LOCATION-ALL))
 (318 63 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-2))
 (294 3 (:REWRITE EVENT-FOR-UAV-FROM-IMPENDING-EVENT))
 (238 238 (:REWRITE RIGHT-PERIMETER-PINCHING))
 (184 184 (:META *META*-UNHIDE-HIDE))
 (162 162 (:REWRITE ZOOLA))
 (159 35 (:REWRITE DEFUNG::NATP-FIX))
 (153 51 (:DEFINITION NATP))
 (136 136 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (134 67 (:LINEAR POSP-N))
 (129 129 (:REWRITE LEN-FLIP-ON-EVENTS))
 (104 4 (:DEFINITION ORDERED-LOCATION-LIST-P))
 (102 102 (:DEFINITION RETURN-LAST))
 (100 20 (:REWRITE POSITIVE-SUM))
 (99 99 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-CHAINING))
 (88 88 (:TYPE-PRESCRIPTION CHASING-NEIGHBOR))
 (78 78 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (51 51 (:TYPE-PRESCRIPTION NATP))
 (44 4 (:DEFINITION UAV-FIX!))
 (33 33 (:TYPE-PRESCRIPTION NNRAT-FIX-FAST$INLINE))
 (32 32 (:REWRITE-QUOTED-CONSTANT RFIX-UNDER-RATIONAL-EQUIV))
 (32 32 (:REWRITE-QUOTED-CONSTANT IFIX-UNDER-INT-EQUIV))
 (32 32 (:REWRITE-QUOTED-CONSTANT FIX-UNDER-NUMBER-EQUIV))
 (31 31 (:TYPE-PRESCRIPTION BOOLEANP))
 (26 4 (:REWRITE ORDERED-LOCATION-LIST-P-UPDATE-LOCATION-ALL))
 (21 21 (:REWRITE T-IMPLIES-NNRAT-P-NNRAT-FIX))
 (20 4 (:REWRITE T-WF-ENSEMBLE-IMPLIES-WF-ENSEMBLE-STEP-TIME))
 (18 3 (:REWRITE NOT-EVENT-FOR-UAV-FROM-NOT-IMPENDING-IMPACT-EVENT))
 (18 3 (:REWRITE EVENT-FOR-UAV-UPDATE-LOCATION-ALL-STRONG))
 (17 4 (:REWRITE SEQUENTIAL-ID-LIST-P-UPDATE-LOCATION-ALL))
 (15 5 (:REWRITE POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (14 5 (:REWRITE O-INFP->NEQ-0))
 (9 9 (:REWRITE UAV-ID-EQUIV-TO-DOUBLE-CONTAINMENT))
 (8 8 (:TYPE-PRESCRIPTION <=LOCATION-ALL))
 (6 3 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-1))
 (4 4 (:REWRITE T-T-IMPLIES-UAV-LIST-P-STEP-TIME))
 (1 1 (:REWRITE SEQUENTIAL-ID-LIST-P-FLIP-ON-EVENTS))
 )
(TIME-TO-EVENT-UPPER-BOUND
 (29196 440 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (27551 2851 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (26826 1023 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (26563 823 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (24732 123 (:DEFINITION LEN))
 (21254 310 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (14335 860 (:DEFINITION UAV-LIST-P))
 (6416 12 (:DEFINITION UAV-LIST-FIX$INLINE))
 (3474 85 (:REWRITE OPEN-UAV-LIST-FIX))
 (2679 918 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (2252 2216 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (2202 16 (:REWRITE ITH-UAV-UPDATE-LOCATION-ALL))
 (2186 16 (:DEFINITION UPDATE-LOCATION-UAV))
 (2066 37 (:REWRITE EVENT-FOR-UAV-N))
 (1775 1683 (:REWRITE DEFAULT-CDR))
 (1403 1403 (:TYPE-PRESCRIPTION LEN))
 (1256 604 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (1040 956 (:REWRITE DEFAULT-CAR))
 (930 930 (:TYPE-PRESCRIPTION UAV-P))
 (893 151 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (800 8 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (772 772 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (744 58 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (636 604 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (631 280 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (600 37 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (600 37 (:REWRITE EVENT-FOR-UAV-LEFT))
 (600 37 (:REWRITE EVENT-FOR-UAV-0))
 (436 50 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (340 34 (:REWRITE POSITIVE-TO-ONE))
 (336 168 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (336 16 (:REWRITE UAV->DIRECTION-UPDATE-UAV-LOCATION))
 (320 16 (:REWRITE UAV->DIRECTION-FLIP-UAV))
 (310 310 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (310 310 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (300 16 (:REWRITE ITH-UAV-FLIP-ON-EVENTS))
 (292 292 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (284 16 (:REWRITE NOT-EVENT-IMPLIES-FLIP-UAV-ID))
 (232 116 (:LINEAR POSP-N))
 (221 201 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (206 37 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (201 201 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (201 201 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (172 172 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (168 84 (:REWRITE CONS-CAR-CDR))
 (156 24 (:REWRITE FLIP-ON-EVENTS-INVARIANTS))
 (128 16 (:REWRITE TIMES-DIRECTION))
 (126 36 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (120 4 (:REWRITE EVENT-FOR-UAV-UPDATE-LOCATION-ALL-LTE))
 (84 84 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (60 2 (:LINEAR POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (54 18 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (51 51 (:REWRITE UAV-LISTP-UPDATE-LOCATION))
 (50 50 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (50 16 (:REWRITE UPDATE-UAV-LOCATION-ZERO))
 (48 4 (:REWRITE LEN-UPDATE-LOCATION-ALL))
 (42 24 (:REWRITE WF-ENSEMBLE-IMPLIES-ESCORT-CONDITION-FLIP-ON-EVENTS))
 (38 38 (:REWRITE UAV-FIX-UNDER-UAV-EQUIV))
 (36 36 (:REWRITE UAV-ID-FIX-CONSTANT))
 (34 34 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (28 28 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (26 26 (:TYPE-PRESCRIPTION NNRAT-FIX-FAST$INLINE))
 (20 4 (:REWRITE NOT-EVENT-FOR-UAV-FROM-NOT-IMPENDING-IMPACT-EVENT))
 (20 4 (:REWRITE EVENT-FOR-UAV-UPDATE-LOCATION-ALL-STRONG))
 (20 4 (:REWRITE EVENT-FOR-UAV-UPDATE-LOCATION-ALL))
 (20 4 (:REWRITE EVENT-FOR-UAV-FROM-IMPENDING-EVENT))
 (18 18 (:REWRITE UAV-ID-P-CONSTANT))
 (16 16 (:REWRITE T-IMPLIES-UAV-LIST-P-FLIP-ON-EVENTS))
 (16 8 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (12 4 (:REWRITE ASSOCIATIVITY-OF-+))
 (10 2 (:REWRITE POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (8 8 (:TYPE-PRESCRIPTION EXISTS-UAV-WITH-EVENT))
 (8 8 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (8 8 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (4 4 (:REWRITE LEN-FLIP-ON-EVENTS))
 (4 4 (:REWRITE FOLD-CONSTS-IN-+))
 (4 4 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (4 4 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (2 2 (:REWRITE T-IMPLIES-NNRAT-P-NNRAT-FIX))
 (2 2 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (1 1 (:REWRITE O-INFP->NEQ-0))
 )
(EVENT-FOR-UAV-AFTER-TIME-TO-EVENT
 (65593 691 (:REWRITE EVENT-FOR-UAV-N))
 (54802 118 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (32811 1600 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (31567 469 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (31086 273 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (29961 30 (:DEFINITION LEN))
 (27095 20 (:REWRITE ITH-UAV-STEP-TIME-LTE-TIME-TO-IMPACT))
 (26047 100 (:REWRITE EVENT-FOR-UAV-IMPLIES-IMPENDING-EVENT-FOR-UAV))
 (25807 691 (:REWRITE EVENT-FOR-UAV-0))
 (24949 691 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (24949 691 (:REWRITE EVENT-FOR-UAV-LEFT))
 (22080 320 (:REWRITE UAV->DIRECTION-FLIP-UAV))
 (20832 58 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (20654 624 (:REWRITE ITH-UAV-FLIP-ON-EVENTS))
 (20030 624 (:REWRITE NOT-EVENT-IMPLIES-FLIP-UAV-ID))
 (17422 834 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (16984 4 (:DEFINITION LTE-TIME-TO-IMPACT))
 (16508 16508 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (16000 320 (:REWRITE TIMES-DIRECTION))
 (13623 20 (:REWRITE ITH-UAV-STEP-TIME-LTE-TIME-TO-EVENT))
 (13568 4 (:DEFINITION LTE-TIME-TO-EVENT))
 (12412 4 (:REWRITE IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL-STRONG))
 (11494 514 (:REWRITE POSITIVE-TO-ONE))
 (10064 8 (:REWRITE LTE-MIN-TIME-TO-IMPACT-IMPLIES-LTE-TIME-TO-IMPACT))
 (9856 20 (:LINEAR POSITIVE-MIN-TIME-TO-IMPACT-FOR-UAV))
 (9816 20 (:LINEAR NNEG-MIN-TIME-TO-IMPACT-FOR-UAV))
 (8218 595 (:REWRITE DEFUNG::NATP-FIX))
 (7123 156 (:DEFINITION NATP))
 (6650 862 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (5799 691 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (5714 2466 (:REWRITE |(< (- x) c)|))
 (4872 2436 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (4700 15 (:DEFINITION UAV-LIST-FIX$INLINE))
 (3813 2466 (:REWRITE DEFAULT-LESS-THAN-1))
 (3759 1809 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (3635 1838 (:REWRITE DEFAULT-MINUS))
 (3397 2645 (:REWRITE DEFAULT-PLUS-1))
 (3364 4 (:REWRITE NOT-IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL-INVARIANT-AWKWARD))
 (3280 20 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST))
 (3102 2323 (:REWRITE SIMPLIFY-PRODUCTS-GATHER-EXPONENTS-<))
 (2820 4 (:REWRITE EVENT-FOR-UAV-UPDATE-LOCATION-ALL))
 (2764 1809 (:REWRITE PREFER-POSITIVE-ADDENDS-EQUAL))
 (2709 2063 (:REWRITE DEFAULT-TIMES-2))
 (2560 1809 (:REWRITE SIMPLIFY-PRODUCTS-GATHER-EXPONENTS-EQUAL))
 (2474 2474 (:REWRITE THE-FLOOR-BELOW))
 (2474 2474 (:REWRITE THE-FLOOR-ABOVE))
 (2466 2466 (:REWRITE REDUCE-RATIONAL-MULTIPLICATIVE-CONSTANT-<))
 (2466 2466 (:REWRITE REDUCE-MULTIPLICATIVE-CONSTANT-<))
 (2466 2466 (:REWRITE REDUCE-ADDITIVE-CONSTANT-<))
 (2466 2466 (:REWRITE |(< c (/ x)) positive c --- present in goal|))
 (2466 2466 (:REWRITE |(< c (/ x)) positive c --- obj t or nil|))
 (2466 2466 (:REWRITE |(< c (/ x)) negative c --- present in goal|))
 (2466 2466 (:REWRITE |(< c (/ x)) negative c --- obj t or nil|))
 (2466 2466 (:REWRITE |(< c (- x))|))
 (2466 2466 (:REWRITE |(< (/ x) c) positive c --- present in goal|))
 (2466 2466 (:REWRITE |(< (/ x) c) positive c --- obj t or nil|))
 (2466 2466 (:REWRITE |(< (/ x) c) negative c --- present in goal|))
 (2466 2466 (:REWRITE |(< (/ x) c) negative c --- obj t or nil|))
 (2466 2466 (:REWRITE |(< (/ x) (/ y))|))
 (2466 2466 (:REWRITE |(< (- x) (- y))|))
 (2460 4 (:REWRITE MIN-TIME-TO-IMPACT-DECREASES-WITH-UPDATE-LOCATION))
 (2377 2377 (:REWRITE INTEGERP-<-CONSTANT))
 (2377 2377 (:REWRITE CONSTANT-<-INTEGERP))
 (2063 2063 (:REWRITE DEFAULT-TIMES-1))
 (1884 1809 (:REWRITE SIMPLIFY-SUMS-EQUAL))
 (1809 1809 (:REWRITE REDUCE-MULTIPLICATIVE-CONSTANT-EQUAL))
 (1809 1809 (:REWRITE REDUCE-ADDITIVE-CONSTANT-EQUAL))
 (1809 1809 (:REWRITE EQUAL-OF-PREDICATES-REWRITE))
 (1809 1809 (:REWRITE |(equal c (/ x))|))
 (1809 1809 (:REWRITE |(equal c (- x))|))
 (1809 1809 (:REWRITE |(equal (/ x) c)|))
 (1809 1809 (:REWRITE |(equal (/ x) (/ y))|))
 (1809 1809 (:REWRITE |(equal (- x) c)|))
 (1809 1809 (:REWRITE |(equal (- x) (- y))|))
 (1447 316 (:REWRITE RATIONALP-X))
 (1400 643 (:REWRITE INTEGERP-MINUS-X))
 (1348 1348 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (1336 1336 (:REWRITE NORMALIZE-FACTORS-GATHER-EXPONENTS))
 (1336 1336 (:REWRITE |(* (- x) y)|))
 (1219 77 (:DEFINITION UAV-LIST-P))
 (1213 710 (:REWRITE DEFAULT-CDR))
 (1100 4 (:REWRITE EVENT-FOR-UAV-FROM-IMPENDING-EVENT))
 (1092 1092 (:REWRITE |(< (/ x) 0)|))
 (1092 1092 (:REWRITE |(< (* x y) 0)|))
 (994 994 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-<-0-RATIONAL-REMAINDER))
 (994 994 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-<-0-RATIONAL-COMMON))
 (988 16 (:REWRITE ITH-UAV-UPDATE-LOCATION-ALL))
 (975 975 (:REWRITE REMOVE-WEAK-INEQUALITIES))
 (972 16 (:DEFINITION UPDATE-LOCATION-UAV))
 (964 528 (:REWRITE DEFAULT-CAR))
 (893 819 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (880 880 (:REWRITE |(< 0 (/ x))|))
 (880 880 (:REWRITE |(< 0 (* x y))|))
 (834 834 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (819 819 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (819 819 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (808 808 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-0-<-AX+BX-RATIONAL-REMAINDER))
 (808 808 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-0-<-AX+BX-RATIONAL-COMMON))
 (800 800 (:REWRITE NORMALIZE-TERMS-SUCH-AS-A/A+B-+-B/A+B))
 (786 114 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (774 114 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY))
 (656 114 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY-TOO))
 (640 304 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (624 351 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (572 152 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (558 549 (:TYPE-PRESCRIPTION BUBBLE-DOWN))
 (554 554 (:REWRITE REDUCE-INTEGERP-+))
 (554 554 (:META META-INTEGERP-CORRECT))
 (514 514 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (447 29 (:REWRITE |(+ (if a b c) x)|))
 (386 126 (:REWRITE IMPLIES-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (382 50 (:REWRITE IMPENDING-EVENT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (347 347 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (334 114 (:REWRITE MIN-TIME-TO-IMPACT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (316 316 (:REWRITE REDUCE-RATIONALP-+))
 (316 316 (:REWRITE REDUCE-RATIONALP-*))
 (316 316 (:REWRITE RATIONALP-MINUS-X))
 (316 316 (:META META-RATIONALP-CORRECT))
 (288 8 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLIES-LT-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (282 94 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (271 89 (:REWRITE POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (249 249 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (240 16 (:REWRITE ACL2-NUMBERP-X))
 (234 234 (:REWRITE UAV-ID-P-CONSTANT))
 (219 152 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (212 58 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (208 52 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (166 166 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-=-0))
 (164 164 (:REWRITE |(< (if a b c) x)|))
 (160 160 (:REWRITE |(< x (if a b c))|))
 (156 156 (:TYPE-PRESCRIPTION NATP))
 (156 16 (:REWRITE UPDATE-UAV-LOCATION-ZERO))
 (148 12 (:REWRITE UPDATE-LOCATION-ALL-ZERO))
 (136 8 (:REWRITE CHASING-NEIGHBOR-IS-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (128 128 (:REWRITE UAV-ID-FIX-CONSTANT))
 (117 117 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (100 12 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-LT-CHAINING))
 (89 89 (:REWRITE |(< (* x y) 0) rationalp (* x y)|))
 (67 67 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (60 20 (:LINEAR FLIP-ON-EVENTS-IS-CLOSER-TO-EVENT-LINEAR))
 (59 59 (:REWRITE |(< y (+ (- c) x))|))
 (59 59 (:REWRITE |(< x (+ c/d y))|))
 (59 59 (:REWRITE |(+ c (+ d x))|))
 (58 58 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (49 38 (:REWRITE LEN-UPDATE-LOCATION-ALL))
 (48 48 (:REWRITE |(< (+ c/d x) y)|))
 (48 48 (:REWRITE |(< (+ (- c) x) y)|))
 (47 47 (:TYPE-PRESCRIPTION NNRAT-FIX-FAST$INLINE))
 (38 19 (:LINEAR POSP-N))
 (37 37 (:REWRITE FOLD-CONSTS-IN-+))
 (37 37 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (36 12 (:REWRITE IMPENDING-ESCORT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (36 4 (:REWRITE IMMINENT-EVENT-IMPLIES-IMPACT-EVENT))
 (30 30 (:TYPE-PRESCRIPTION DEFUNG::TRUE-FROM-X))
 (29 29 (:REWRITE LEN-FLIP-ON-EVENTS))
 (28 4 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-2))
 (24 4 (:REWRITE NOT-EVENT-FOR-UAV-FROM-NOT-IMPENDING-IMPACT-EVENT))
 (24 4 (:REWRITE EVENT-FOR-UAV-UPDATE-LOCATION-ALL-STRONG))
 (20 20 (:TYPE-PRESCRIPTION LTE-TIME-TO-IMPACT))
 (20 20 (:TYPE-PRESCRIPTION LTE-TIME-TO-EVENT))
 (20 4 (:REWRITE NOT-EQUAL-ALWAYS-SMALLEST-MEANS-GREATER))
 (20 4 (:REWRITE LESS-THAN-LEAST-IMPLIES-LESS-THAN-ANY))
 (19 19 (:REWRITE FLIP-ON-EVENTS-INVARIANTS))
 (18 18 (:REWRITE T-IMPLIES-NNRAT-P-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (17 17 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (17 17 (:REWRITE ESCORT-CONDITION-NECC))
 (16 16 (:REWRITE UAV->DIRECTION-UPDATE-UAV-LOCATION))
 (16 16 (:REWRITE T-IMPLIES-UAV-LIST-P-FLIP-ON-EVENTS))
 (15 15 (:REWRITE OPEN-STEP-TIME-INDUCTION))
 (12 12 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-CHAINING))
 (8 4 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-1))
 (4 4 (:TYPE-PRESCRIPTION CHASING-NEIGHBOR))
 (4 4 (:REWRITE ZOOLA))
 (1 1 (:REWRITE O-INFP->NEQ-0))
 )
(UAV-LOCATION-UPDATE-UAV-LOCATION
 (222 222 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (91 12 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (29 1 (:REWRITE UAV-LOCATION-FIX-UAV-LOCATION-P))
 (27 27 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (27 27 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (27 27 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (27 9 (:REWRITE NNRAT-FIX-NNRAT-P))
 (26 1 (:DEFINITION UAV-LOCATION-P))
 (6 6 (:TYPE-PRESCRIPTION BOOLEANP))
 (6 6 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (6 6 (:META *META*-UNHIDE-HIDE))
 (3 1 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (2 2 (:TYPE-PRESCRIPTION UAV-P))
 (2 2 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 )
(UAV-LOCATION-UPDATE-LOCATION-UAV
 (53 1 (:REWRITE UAV-LOCATION-FIX-UAV-LOCATION-P))
 (50 1 (:DEFINITION UAV-LOCATION-P))
 (39 39 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (24 24 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (24 2 (:DEFINITION NOT))
 (10 5 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (9 9 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (9 9 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (9 9 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (9 1 (:REWRITE UPDATE-UAV-LOCATION-ZERO))
 (8 1 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-RIGHT))
 (8 1 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-LEFT))
 (6 3 (:REWRITE NNRAT-FIX-NNRAT-P))
 (5 1 (:REWRITE POSITIVE-TO-ONE))
 (4 4 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (3 3 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (2 2 (:REWRITE RIGHT-PERIMETER-PINCHING))
 (2 2 (:META *META*-UNHIDE-HIDE))
 (1 1 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (1 1 (:REWRITE BODY-IMPLIES-NNRAT-P))
 )
(UAV-RIGHT-BOUNDARY-UPDATE-UAV-LOCATION
 (28 28 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (22 22 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (4 1 (:REWRITE NNRAT-FIX-NNRAT-P))
 (3 1 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (2 2 (:TYPE-PRESCRIPTION UAV-P))
 (2 2 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (2 2 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (2 2 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (2 1 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (2 1 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (2 1 (:LINEAR POSP-N))
 (1 1 (:REWRITE UAV-ID-FIX-CONSTANT))
 (1 1 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (1 1 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (1 1 (:META *META*-UNHIDE-HIDE))
 )
(UAV-LEFT-BOUNDARY-UPDATE-UAV-LOCATION
 (28 28 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (22 22 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (4 1 (:REWRITE NNRAT-FIX-NNRAT-P))
 (3 1 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (2 2 (:TYPE-PRESCRIPTION UAV-P))
 (2 2 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (2 2 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (2 2 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (2 1 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (2 1 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (2 1 (:LINEAR POSP-N))
 (1 1 (:REWRITE UAV-ID-FIX-CONSTANT))
 (1 1 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (1 1 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (1 1 (:META *META*-UNHIDE-HIDE))
 )
(UAV-RIGHT-BOUNDARY-FLIP-UAV
 (62 62 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (36 36 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (26 1 (:REWRITE ITH-UAV-ID-IS-I))
 (23 3 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (20 10 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (20 2 (:REWRITE POSITIVE-TO-ONE))
 (20 2 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (20 1 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (18 3 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (16 1 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (16 1 (:REWRITE EVENT-FOR-UAV-N))
 (16 1 (:REWRITE EVENT-FOR-UAV-LEFT))
 (16 1 (:REWRITE EVENT-FOR-UAV-0))
 (14 1 (:DEFINITION UAV-LIST-P))
 (11 6 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (9 3 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (9 1 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (7 7 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (4 4 (:TYPE-PRESCRIPTION WF-ENSEMBLE))
 (4 4 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (3 3 (:REWRITE UAV-ID-P-CONSTANT))
 (3 3 (:REWRITE UAV-ID-FIX-CONSTANT))
 (2 2 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (2 2 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (2 2 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (2 2 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (2 1 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (2 1 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (2 1 (:LINEAR POSP-N))
 (1 1 (:TYPE-PRESCRIPTION UAV-P))
 (1 1 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (1 1 (:REWRITE DEFAULT-CDR))
 (1 1 (:REWRITE DEFAULT-CAR))
 )
(UAV-LEFT-BOUNDARY-FLIP-UAV
 (66 66 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (52 2 (:REWRITE REWRITE-LEFT-BOUNDARY-TO-RIGHT-BOUNDARY))
 (46 6 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (40 2 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (40 1 (:LINEAR EVENLY-SPACED-BOUNDARIES))
 (36 36 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (28 2 (:DEFINITION UAV-LIST-P))
 (24 4 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (22 11 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (20 2 (:REWRITE POSITIVE-TO-ONE))
 (20 2 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (16 1 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (16 1 (:REWRITE EVENT-FOR-UAV-N))
 (16 1 (:REWRITE EVENT-FOR-UAV-LEFT))
 (16 1 (:REWRITE EVENT-FOR-UAV-0))
 (14 14 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (12 6 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (12 4 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (9 1 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (9 1 (:REWRITE <-C-UAV-ID-FIX-REWRITE-0))
 (8 8 (:TYPE-PRESCRIPTION WF-ENSEMBLE))
 (4 4 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (4 4 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (4 4 (:REWRITE UAV-ID-P-CONSTANT))
 (4 4 (:REWRITE UAV-ID-FIX-CONSTANT))
 (4 4 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (4 2 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (4 2 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (2 2 (:TYPE-PRESCRIPTION UAV-P))
 (2 2 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (2 2 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (2 2 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (2 2 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (2 2 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (2 2 (:REWRITE DEFAULT-CDR))
 (2 2 (:REWRITE DEFAULT-CAR))
 (2 1 (:LINEAR POSP-N))
 (1 1 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (1 1 (:LINEAR EVENLY-SPACED-BOUNDARIES-CONSTANT))
 )
(NORMALIZE-ADDITIVE-CONSTANTS-UNDER-EQUALITY
 (6 6 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 )
(NORMALIZE-ADDITIVE-CONSTANTS-UNDER-<
 (6 6 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (6 6 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (6 6 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 )
(DISTANCE-TO-RIGHT-BOUNDARY-IS-LTE-TIME-TO-EVENT
 (22346 424 (:REWRITE EVENT-FOR-UAV-LEFT))
 (18624 116 (:REWRITE EVENT-FOR-UAV-IMPLIES-IMPENDING-EVENT-FOR-UAV))
 (18402 68 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (7409 439 (:REWRITE EVENT-FOR-UAV-0))
 (7164 3622 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (6294 999 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (4569 916 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (3708 1594 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (3550 70 (:LINEAR EVENLY-SPACED-BOUNDARIES))
 (3497 444 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (3480 319 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (2853 160 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (2664 72 (:REWRITE REWRITE-LEFT-BOUNDARY-TO-RIGHT-BOUNDARY))
 (2573 119 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (2370 3 (:DEFINITION LEN))
 (2249 457 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (1923 641 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (1535 5 (:REWRITE EVENT-FOR-UAV-UPDATE-LOCATION-ALL))
 (1481 1384 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (1409 1409 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (1204 157 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-RIGHT))
 (1204 157 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-LEFT))
 (1144 236 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (1036 1036 (:REWRITE UAV-ID-P-CONSTANT))
 (999 999 (:REWRITE UAV-ID-FIX-CONSTANT))
 (960 24 (:REWRITE UAV-LEFT-BOUNDARY-FLIP-UAV))
 (955 519 (:REWRITE DEFAULT-CDR))
 (928 12 (:REWRITE UAV-LOCATION-FIX-UAV-LOCATION-P))
 (892 12 (:DEFINITION UAV-LOCATION-P))
 (704 119 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (690 68 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (665 248 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (647 127 (:REWRITE <-C-UAV-ID-FIX-REWRITE-0))
 (617 3 (:DEFINITION UAV-LIST-FIX$INLINE))
 (605 5 (:LINEAR POSITIVE-MIN-TIME-TO-IMPACT-FOR-UAV))
 (595 5 (:LINEAR NNEG-MIN-TIME-TO-IMPACT-FOR-UAV))
 (548 280 (:REWRITE DEFAULT-CAR))
 (495 5 (:REWRITE EVENT-FOR-UAV-FROM-IMPENDING-EVENT))
 (476 68 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY))
 (445 445 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (435 435 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (416 416 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 (408 68 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY-TOO))
 (404 236 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (372 171 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (360 360 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (352 16 (:REWRITE RATIONALP-+))
 (289 73 (:REWRITE O-INFP->NEQ-0))
 (288 32 (:REWRITE EQUAL-SUM-TO-UAV-ID-EQUIV))
 (268 58 (:REWRITE IMPENDING-EVENT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (260 260 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (204 68 (:REWRITE MIN-TIME-TO-IMPACT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (204 68 (:REWRITE IMPLIES-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (185 10 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLIES-LT-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (181 31 (:REWRITE COMBINE-CONSTANTS-LINEAR))
 (179 50 (:REWRITE UPDATE-UAV-LOCATION-ZERO))
 (160 16 (:REWRITE RATIONALP-*))
 (144 9 (:DEFINITION UAV-LIST-P))
 (126 42 (:REWRITE UPDATE-LOCATION-ALL-ZERO))
 (125 15 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-LT-CHAINING))
 (124 124 (:REWRITE HELPER-RULE))
 (119 119 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (110 110 (:REWRITE LEN-FLIP-ON-EVENTS))
 (100 20 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (95 19 (:REWRITE UAV-ID-P-PLUS-C))
 (86 86 (:REWRITE NORMALIZE-ADDITIVE-CONSTANTS-UNDER-EQUALITY))
 (74 74 (:META *META*-UNHIDE-HIDE))
 (70 70 (:LINEAR EVENLY-SPACED-BOUNDARIES-CONSTANT))
 (69 69 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (62 62 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (60 5 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST))
 (58 58 (:REWRITE LEN-UPDATE-LOCATION-ALL))
 (53 53 (:REWRITE FOLD-CONSTS-IN-+))
 (52 52 (:REWRITE <-UAV-ID-FIX-N-REWRITE-1))
 (43 14 (:DEFINITION NATP))
 (40 8 (:REWRITE DEFUNG::NATP-FIX))
 (35 5 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-2))
 (33 33 (:TYPE-PRESCRIPTION NNRAT-FIX-FAST$INLINE))
 (32 32 (:REWRITE UAV-FIX-UNDER-UAV-EQUIV))
 (32 32 (:REWRITE PLUS-EQUAL-N-TO-EQUIV-N-MINUS-1))
 (32 6 (:REWRITE POSITIVE-SUM))
 (30 5 (:REWRITE NOT-EVENT-FOR-UAV-FROM-NOT-IMPENDING-IMPACT-EVENT))
 (30 5 (:REWRITE EVENT-FOR-UAV-UPDATE-LOCATION-ALL-STRONG))
 (27 9 (:REWRITE POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (19 19 (:REWRITE NOT-UAV-ID-P-N))
 (15 15 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-CHAINING))
 (15 5 (:REWRITE IMPENDING-ESCORT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (15 5 (:LINEAR FLIP-ON-EVENTS-IS-CLOSER-TO-EVENT-LINEAR))
 (14 14 (:TYPE-PRESCRIPTION NATP))
 (12 12 (:REWRITE T-IMPLIES-NNRAT-P-NNRAT-FIX))
 (11 11 (:REWRITE UAV-ID-EQUIV-TO-DOUBLE-CONTAINMENT))
 (10 10 (:REWRITE T-IMPLIES-NNRAT-P-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (10 5 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-1))
 )
(STEP-TO-RIGHT-BOUNDARY
 (120 120 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (81 1 (:LINEAR EVENLY-SPACED-BOUNDARIES))
 (36 2 (:LINEAR LINEAR-BOUNDS-ON-UAV-ID-FIX))
 (33 33 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (26 13 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (24 4 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (21 1 (:REWRITE OPEN-STEP-TIME-INDUCTION))
 (18 1 (:DEFINITION |STEP-TIME-test|))
 (16 7 (:REWRITE NNRAT-FIX-NNRAT-P))
 (13 2 (:REWRITE UPDATE-UAV-LOCATION-ZERO))
 (13 1 (:REWRITE <-C-UAV-ID-FIX-REWRITE-0))
 (12 4 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (12 2 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (11 4 (:REWRITE NORMALIZE-ADDITIVE-CONSTANTS-UNDER-<))
 (8 8 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (8 8 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (8 8 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (6 4 (:REWRITE DEFAULT-CDR))
 (6 1 (:REWRITE DEFUNG::OPEN-TRUE))
 (4 4 (:REWRITE UAV-ID-P-CONSTANT))
 (4 4 (:REWRITE UAV-ID-FIX-CONSTANT))
 (4 2 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (4 2 (:REWRITE DEFAULT-CAR))
 (3 3 (:REWRITE RIGHT-PERIMETER-PINCHING))
 (3 3 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (3 2 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (3 1 (:REWRITE UAV-LIST-FIX!-TO-UAV-LIST-FIX))
 (3 1 (:REWRITE BODY-IMPLIES-WF-ESCORT-P))
 (2 2 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (2 2 (:REWRITE OPEN-UAV-LIST-FIX))
 (2 2 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (2 2 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (2 2 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (2 1 (:LINEAR POSP-N))
 (1 1 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (1 1 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (1 1 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (1 1 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (1 1 (:META *META*-UNHIDE-HIDE))
 (1 1 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-RIGHT))
 (1 1 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-LEFT))
 (1 1 (:LINEAR EVENLY-SPACED-BOUNDARIES-CONSTANT))
 (1 1 (:DEFINITION THROW-NONEXEC-ERROR))
 (1 1 (:DEFINITION RETURN-LAST))
 )
(HOW-LONG??
 (24 24 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 )
(THIS-IS-GETTING-RIDICULOUS
 (24 24 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 )
(FLIP-STEP-TO-RIGHT-BOUNDARY
 (3884 2 (:REWRITE ITH-UAV-STEP-TIME-LTE-TIME-TO-IMPACT))
 (3482 4 (:REWRITE LTE-MIN-TIME-TO-IMPACT-IMPLIES-LTE-TIME-TO-IMPACT))
 (3101 6 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (1386 54 (:REWRITE EVENT-FOR-UAV-N))
 (1187 2 (:LINEAR POSITIVE-MIN-TIME-TO-IMPACT-FOR-UAV))
 (1183 2 (:LINEAR NNEG-MIN-TIME-TO-IMPACT-FOR-UAV))
 (939 37 (:REWRITE NOT-EVENT-IMPLIES-FLIP-UAV-ID))
 (844 471 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (831 2 (:REWRITE ITH-UAV-STEP-TIME-LTE-TIME-TO-EVENT))
 (806 29 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (696 520 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (642 167 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (559 2 (:DEFINITION LTE-TIME-TO-EVENT))
 (546 2 (:DEFINITION LTE-TIME-TO-IMPACT))
 (501 167 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (436 4 (:DEFINITION NEXT-STEP))
 (422 4 (:REWRITE DISTANCE-TO-RIGHT-BOUNDARY-IS-LTE-TIME-TO-EVENT))
 (298 8 (:LINEAR EVENLY-SPACED-BOUNDARIES))
 (290 5 (:DEFINITION =))
 (288 4 (:REWRITE UPDATE-LOCATION-ALL-ESCORT-CONDITION))
 (281 105 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (280 280 (:TYPE-PRESCRIPTION ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (224 4 (:REWRITE LTE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IMPLIES-LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT))
 (195 39 (:REWRITE NNRAT-FIX-NNRAT-P))
 (170 17 (:REWRITE POSITIVE-TO-ONE))
 (157 27 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (156 4 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (127 127 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (127 127 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (116 4 (:REWRITE UAV-LIST-FIX!-TO-UAV-LIST-FIX))
 (112 20 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (108 108 (:REWRITE RIGHT-PERIMETER-PINCHING))
 (101 14 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (100 12 (:REWRITE DEGENERATE-ZED))
 (94 54 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (83 46 (:REWRITE DEFAULT-CDR))
 (70 22 (:REWRITE O-INFP->NEQ-0))
 (70 21 (:REWRITE NORMALIZE-ADDITIVE-CONSTANTS-UNDER-<))
 (68 18 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (64 26 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (58 28 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (57 28 (:REWRITE DEFAULT-CAR))
 (57 14 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (50 21 (:REWRITE <-C-UAV-ID-FIX-REWRITE-0))
 (48 4 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-LT-CHAINING))
 (45 6 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (42 6 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY))
 (40 8 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (36 18 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (36 6 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY-TOO))
 (28 4 (:DEFINITION MIN))
 (26 18 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (24 2 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST))
 (23 9 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-RIGHT))
 (23 9 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-LEFT))
 (22 8 (:LINEAR EVENLY-SPACED-BOUNDARIES-CONSTANT))
 (20 2 (:LINEAR EVENLY-SPACED-BETWEE-PERIMETER-BOUNDARIES))
 (19 7 (:REWRITE UPDATE-UAV-LOCATION-ZERO))
 (18 18 (:REWRITE HELPER-RULE))
 (18 18 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (18 6 (:REWRITE MIN-TIME-TO-IMPACT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (18 6 (:REWRITE IMPLIES-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (18 6 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (17 17 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (16 16 (:TYPE-PRESCRIPTION RATIONALP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (15 15 (:TYPE-PRESCRIPTION EXISTS-UAV-WITH-EVENT))
 (14 14 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (14 14 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (14 2 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-2))
 (12 12 (:TYPE-PRESCRIPTION LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT))
 (12 12 (:REWRITE VAL-OF-CONS))
 (10 10 (:TYPE-PRESCRIPTION LTE-TIME-TO-IMPACT))
 (10 10 (:TYPE-PRESCRIPTION LTE-TIME-TO-EVENT))
 (9 1 (:REWRITE COMBINE-CONSTANTS-LINEAR))
 (8 8 (:REWRITE LEN-FLIP-ON-EVENTS))
 (8 4 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLIES-LT-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (7 1 (:REWRITE UAV-ID-FIX-PLUS))
 (6 6 (:REWRITE FLIP-ON-EVENTS-ELIMINATES-ALL-EVENTS))
 (6 2 (:LINEAR FLIP-ON-EVENTS-IS-CLOSER-TO-EVENT-LINEAR))
 (5 5 (:REWRITE OPEN-STEP-TIME-INDUCTION))
 (5 5 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (4 4 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (4 4 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (4 4 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-CHAINING))
 (4 4 (:META *META*-UNHIDE-HIDE))
 (4 2 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-1))
 (2 2 (:REWRITE NOT-IMPACT-EVENT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (2 2 (:REWRITE NOT-EVENT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (1 1 (:REWRITE <-UAV-ID-FIX-N-REWRITE-1))
 )
(DISTANCE-TO-LEFT-BOUNDARY-IS-LTE-TIME-TO-EVENT
 (43331 109 (:REWRITE DISTANCE-TO-RIGHT-BOUNDARY-IS-LTE-TIME-TO-EVENT))
 (35946 122 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-LT-CHAINING))
 (34958 185 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (34493 672 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (34088 198 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (27419 21 (:REWRITE IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL-STRONG))
 (15650 1082 (:REWRITE EVENT-FOR-UAV-N))
 (10809 52 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST))
 (8374 977 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (7353 4758 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (6709 31 (:LINEAR POSITIVE-MIN-TIME-TO-IMPACT-FOR-UAV))
 (6647 31 (:LINEAR NNEG-MIN-TIME-TO-IMPACT-FOR-UAV))
 (6008 62 (:REWRITE EVENT-FOR-UAV-IMPLIES-IMPENDING-EVENT-FOR-UAV))
 (5373 21 (:REWRITE IMMINENT-EVENT-IMPLIES-IMPACT-EVENT))
 (3957 747 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (3889 1658 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (3741 324 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (3617 184 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (3603 953 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (3345 10 (:REWRITE EVENT-FOR-UAV-UPDATE-LOCATION-ALL))
 (3288 76 (:DEFINITION =))
 (2985 299 (:REWRITE POSITIVE-TO-ONE))
 (2829 943 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (2503 335 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (2370 3 (:DEFINITION LEN))
 (2164 198 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (2159 70 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (2098 1082 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (2008 99 (:REWRITE FLIP-ON-EVENTS-INVARIANTS))
 (1843 1752 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (1752 1752 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (1752 1752 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (1494 102 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLIES-LT-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (1260 198 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY))
 (1100 10 (:REWRITE EVENT-FOR-UAV-FROM-IMPENDING-EVENT))
 (1083 198 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY-TOO))
 (1030 35 (:LINEAR EVENLY-SPACED-BOUNDARIES))
 (862 862 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (799 21 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-STILL-PENDING))
 (765 419 (:REWRITE DEFAULT-CDR))
 (657 198 (:REWRITE IMPLIES-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (654 146 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (650 96 (:REWRITE UPDATE-UAV-LOCATION-ZERO))
 (624 243 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (617 3 (:DEFINITION UAV-LIST-FIX$INLINE))
 (552 198 (:REWRITE MIN-TIME-TO-IMPACT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (542 31 (:REWRITE IMPENDING-EVENT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (513 270 (:REWRITE DEFAULT-CAR))
 (414 233 (:REWRITE NORMALIZE-ADDITIVE-CONSTANTS-UNDER-<))
 (391 70 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (390 390 (:REWRITE RIGHT-PERIMETER-PINCHING))
 (354 24 (:DEFINITION UAV-LIST-P))
 (345 87 (:REWRITE O-INFP->NEQ-0))
 (301 301 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (299 299 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (260 10 (:DEFINITION ORDERED-LOCATION-LIST-P))
 (249 146 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (239 60 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-RIGHT))
 (239 60 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-LEFT))
 (210 210 (:REWRITE T-IMPLIES-NNRAT-P-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (200 20 (:REWRITE UAV-ID-FIX-PLUS))
 (176 8 (:REWRITE RATIONALP-+))
 (175 31 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-2))
 (156 52 (:LINEAR FLIP-ON-EVENTS-IS-CLOSER-TO-EVENT-LINEAR))
 (151 119 (:REWRITE <-C-UAV-ID-FIX-REWRITE-0))
 (148 148 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (147 9 (:DEFINITION RFIX))
 (144 16 (:REWRITE DEGENERATE-ZED))
 (140 140 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (122 122 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-CHAINING))
 (114 114 (:REWRITE HELPER-RULE))
 (110 10 (:DEFINITION UAV-FIX!))
 (108 36 (:REWRITE POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (93 31 (:REWRITE IMPENDING-ESCORT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (80 8 (:REWRITE RATIONALP-*))
 (77 12 (:REWRITE POSITIVE-SUM))
 (70 70 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (63 35 (:LINEAR EVENLY-SPACED-BOUNDARIES-CONSTANT))
 (62 62 (:REWRITE LEN-FLIP-ON-EVENTS))
 (60 10 (:REWRITE ORDERED-LOCATION-LIST-P-UPDATE-LOCATION-ALL))
 (60 10 (:REWRITE NOT-EVENT-FOR-UAV-FROM-NOT-IMPENDING-IMPACT-EVENT))
 (60 10 (:REWRITE EVENT-FOR-UAV-UPDATE-LOCATION-ALL-STRONG))
 (54 11 (:REWRITE WF-ENSEMBLE-IMPLIES-ESCORT-CONDITION-FLIP-ON-EVENTS))
 (49 12 (:DEFINITION NATP))
 (41 41 (:REWRITE LEN-UPDATE-LOCATION-ALL))
 (41 41 (:META *META*-UNHIDE-HIDE))
 (40 4 (:LINEAR EVENLY-SPACED-BETWEE-PERIMETER-BOUNDARIES))
 (35 35 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (34 17 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-1))
 (33 33 (:TYPE-PRESCRIPTION NNRAT-FIX-FAST$INLINE))
 (32 32 (:REWRITE UAV-FIX-UNDER-UAV-EQUIV))
 (29 29 (:REWRITE FOLD-CONSTS-IN-+))
 (29 29 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (22 22 (:REWRITE T-IMPLIES-NNRAT-P-NNRAT-FIX))
 (21 21 (:REWRITE ZOOLA))
 (20 20 (:TYPE-PRESCRIPTION <=LOCATION-ALL))
 (12 12 (:TYPE-PRESCRIPTION NATP))
 (10 10 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 (10 10 (:REWRITE SEQUENTIAL-ID-LIST-P-UPDATE-LOCATION-ALL))
 (10 10 (:REWRITE <-UAV-ID-FIX-N-REWRITE-1))
 (8 8 (:REWRITE COMBINE-CONSTANTS-LINEAR))
 (3 3 (:REWRITE UPDATE-LOCATION-ALL-ZERO))
 (2 2 (:LINEAR LEFT-PERIMETER-BOUNDARY-LOWER-BOUND))
 )
(STEP-TO-LEFT-BOUNDARY
 (1161 5 (:REWRITE EVENT-FOR-UAV-LEFT))
 (836 1 (:REWRITE ITH-UAV-STEP-TIME-LTE-TIME-TO-IMPACT))
 (747 2 (:REWRITE LTE-MIN-TIME-TO-IMPACT-IMPLIES-LTE-TIME-TO-IMPACT))
 (619 2 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (527 3 (:REWRITE FLIP-STEP-TO-RIGHT-BOUNDARY))
 (514 1 (:DEFINITION LTE-TIME-TO-EVENT))
 (359 1 (:LINEAR NNEG-MIN-TIME-TO-IMPACT-FOR-UAV))
 (315 1 (:REWRITE HOW-LONG??))
 (311 223 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (249 142 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (248 6 (:REWRITE EVENT-FOR-UAV-0))
 (247 57 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (223 221 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (174 3 (:DEFINITION =))
 (171 57 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (169 1 (:DEFINITION LTE-TIME-TO-IMPACT))
 (160 2 (:REWRITE UPDATE-LOCATION-ALL-ESCORT-CONDITION))
 (148 15 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-RIGHT))
 (148 15 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-LEFT))
 (140 140 (:TYPE-PRESCRIPTION ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (125 45 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (113 29 (:REWRITE NNRAT-FIX-NNRAT-P))
 (112 2 (:REWRITE LTE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IMPLIES-LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT))
 (112 2 (:DEFINITION NEXT-STEP))
 (90 9 (:REWRITE POSITIVE-TO-ONE))
 (90 4 (:REWRITE BODY-IMPLIES-WF-ESCORT-P))
 (78 2 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (63 3 (:REWRITE OPEN-STEP-TIME-INDUCTION))
 (58 12 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (54 3 (:DEFINITION |STEP-TIME-test|))
 (52 52 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (52 52 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (52 52 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (50 1 (:LINEAR EVENLY-SPACED-BOUNDARIES))
 (32 8 (:REWRITE O-INFP->NEQ-0))
 (32 5 (:REWRITE UPDATE-UAV-LOCATION-ZERO))
 (32 2 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-LT-CHAINING))
 (30 6 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (26 26 (:REWRITE RIGHT-PERIMETER-PINCHING))
 (25 6 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (22 4 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (19 1 (:REWRITE UAV-ID-FIX-PLUS))
 (18 3 (:REWRITE DEFUNG::OPEN-TRUE))
 (16 10 (:REWRITE DEFAULT-CDR))
 (15 5 (:REWRITE UAV-LIST-FIX!-TO-UAV-LIST-FIX))
 (14 2 (:DEFINITION MIN))
 (13 13 (:TYPE-PRESCRIPTION IMPENDING-IMPACT-EVENT-FOR-UAV))
 (13 13 (:TYPE-PRESCRIPTION IMPACT-EVENT-FOR-UAV))
 (13 7 (:REWRITE NORMALIZE-ADDITIVE-CONSTANTS-UNDER-<))
 (12 6 (:REWRITE DEFAULT-CAR))
 (12 2 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (12 2 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (11 11 (:REWRITE OPEN-UAV-LIST-FIX))
 (11 11 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (9 9 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (8 8 (:REWRITE FLIP-ON-EVENTS-INVARIANTS))
 (8 4 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (8 2 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (6 6 (:TYPE-PRESCRIPTION RATIONALP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (6 6 (:TYPE-PRESCRIPTION LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT))
 (6 6 (:TYPE-PRESCRIPTION EXISTS-UAV-WITH-EVENT))
 (6 6 (:REWRITE VAL-OF-CONS))
 (6 6 (:REWRITE EVENT-FOR-UAV-N))
 (6 1 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST))
 (5 5 (:TYPE-PRESCRIPTION LTE-TIME-TO-IMPACT))
 (5 5 (:TYPE-PRESCRIPTION EVENT-FOR-UAV))
 (5 5 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (5 5 (:REWRITE HELPER-RULE))
 (5 5 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (5 5 (:REWRITE <-C-UAV-ID-FIX-REWRITE-0))
 (5 2 (:REWRITE DISTANCE-TO-RIGHT-BOUNDARY-IS-LTE-TIME-TO-EVENT))
 (5 1 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-2))
 (4 4 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (4 4 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (4 4 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (4 4 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (4 2 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLIES-LT-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (4 1 (:LINEAR POSITIVE-MIN-TIME-TO-IMPACT-FOR-UAV))
 (3 3 (:TYPE-PRESCRIPTION |STEP-TIME-test|))
 (3 3 (:REWRITE STEP-TO-RIGHT-BOUNDARY))
 (3 3 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (3 3 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (3 3 (:DEFINITION THROW-NONEXEC-ERROR))
 (3 3 (:DEFINITION RETURN-LAST))
 (2 2 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (2 2 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-CHAINING))
 (2 2 (:META *META*-UNHIDE-HIDE))
 (2 1 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-1))
 (1 1 (:REWRITE <-UAV-ID-FIX-N-REWRITE-1))
 (1 1 (:LINEAR EVENLY-SPACED-BOUNDARIES-CONSTANT))
 )
(FLIP-STEP-TO-LEFT-BOUNDARY
 (687 687 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (209 7 (:LINEAR EVENLY-SPACED-BOUNDARIES))
 (197 24 (:REWRITE NOT-EVENT-IMPLIES-FLIP-UAV-ID))
 (178 178 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (178 178 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (178 178 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (161 51 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (153 51 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (108 7 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (90 40 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (84 30 (:REWRITE NNRAT-FIX-NNRAT-P))
 (84 1 (:DEFINITION LEN))
 (74 48 (:REWRITE DEFAULT-CDR))
 (60 4 (:DEFINITION UAV-LIST-P))
 (58 18 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (45 3 (:REWRITE EQUAL-SUM-TO-UAV-ID-EQUIV))
 (40 22 (:REWRITE DEFAULT-CAR))
 (34 10 (:REWRITE UPDATE-UAV-LOCATION-ZERO))
 (33 25 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (32 12 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (25 13 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (25 2 (:REWRITE COMBINE-CONSTANTS-LINEAR))
 (22 1 (:REWRITE LIST::TRUE-LISTP-FIX))
 (21 12 (:REWRITE O-INFP->NEQ-0))
 (18 18 (:REWRITE BODY-IMPLIES-NNRAT-P))
 (18 18 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (17 17 (:REWRITE EVENT-FOR-UAV-0))
 (16 4 (:REWRITE UAV-ID-P-PLUS-C))
 (12 12 (:TYPE-PRESCRIPTION EXISTS-UAV-WITH-EVENT))
 (12 2 (:REWRITE SET::SETS-ARE-TRUE-LISTS-CHEAP))
 (12 1 (:DEFINITION TRUE-LISTP))
 (11 11 (:REWRITE <-UAV-ID-FIX-N-REWRITE-1))
 (10 10 (:REWRITE HELPER-RULE))
 (8 8 (:REWRITE OPEN-STEP-TIME-INDUCTION))
 (8 8 (:REWRITE LEN-FLIP-ON-EVENTS))
 (8 8 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (8 8 (:REWRITE DEGENERATE-ZED))
 (7 7 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-RIGHT))
 (7 7 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-LEFT))
 (7 7 (:LINEAR EVENLY-SPACED-BOUNDARIES-CONSTANT))
 (6 6 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (6 6 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (6 6 (:META *META*-UNHIDE-HIDE))
 (5 5 (:TYPE-PRESCRIPTION TRUE-LISTP))
 (5 5 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (4 4 (:TYPE-PRESCRIPTION SET::SETP-TYPE))
 (4 4 (:REWRITE NOT-UAV-ID-P-N))
 (4 2 (:REWRITE SET::NONEMPTY-MEANS-SET))
 (3 1 (:REWRITE POSITIVE-SUM))
 (2 2 (:TYPE-PRESCRIPTION SET::EMPTYP-TYPE))
 (2 2 (:TYPE-PRESCRIPTION BOOLEANP))
 (2 2 (:REWRITE LIST::TRUE-LISTP-OF-NON-CONSP))
 (2 2 (:REWRITE LIST::OPEN-EQUIV))
 (2 2 (:REWRITE SET::IN-SET))
 (2 2 (:REWRITE LIST::EQUIV-OF-CONSTANT))
 (1 1 (:TYPE-PRESCRIPTION NATP))
 (1 1 (:REWRITE BAG::LEN-1-AND-MEMBERP-MEANS-YOU-KNOW-X))
 (1 1 (:REWRITE LIST::FIX-OF-NON-CONSP))
 (1 1 (:REWRITE EVENT-FOR-UAV-LEFT))
 (1 1 (:REWRITE <-C-UAV-ID-FIX-REWRITE-0))
 (1 1 (:DEFINITION NATP))
 )
(TIME-TO-EVENT-IS-BOUNDED-BY-DISTANCE-TO-BOUNDARY-RIGHT
 (607762 1675 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (369131 1274 (:REWRITE EVENT-FOR-UAV-IMPLIES-IMPENDING-EVENT-FOR-UAV))
 (221339 88 (:REWRITE IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL-STRONG))
 (136873 659 (:REWRITE IMPENDING-EVENT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (131434 1675 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY-TOO))
 (129127 3123 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (122632 352 (:REWRITE FLIP-UAV-UPDATE-LOCATION-ALL))
 (121518 9148 (:REWRITE EVENT-FOR-UAV-0))
 (108552 2366 (:LINEAR EVENLY-SPACED-BOUNDARIES))
 (103085 1675 (:REWRITE MIN-TIME-TO-IMPACT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (98455 49554 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (70634 4144 (:REWRITE EVENT-FOR-UAV-LEFT))
 (49553 13592 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (46557 2319 (:REWRITE EQUAL-SUM-TO-UAV-ID-EQUIV))
 (42240 2112 (:REWRITE UAV->DIRECTION-FLIP-UAV))
 (40740 13580 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (32236 13825 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (30401 2366 (:REWRITE <-C-UAV-ID-FIX-REWRITE-0))
 (29258 3945 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (28194 9354 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (23767 1020 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (19392 19153 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (19170 19170 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (18711 66 (:DEFINITION LEN))
 (13592 13592 (:REWRITE UAV-ID-FIX-CONSTANT))
 (11464 1675 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (11442 2294 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (10443 10443 (:REWRITE UAV-ID-P-CONSTANT))
 (9627 1675 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY))
 (5043 1367 (:REWRITE IMPLIES-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (4754 4754 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (4736 4736 (:REWRITE NORMALIZE-ADDITIVE-CONSTANTS-UNDER-EQUALITY))
 (4579 2247 (:REWRITE UAV-ID-P-PLUS-C))
 (4042 2327 (:REWRITE DEFAULT-CDR))
 (4034 855 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (3919 33 (:DEFINITION UAV-LIST-FIX$INLINE))
 (3865 239 (:DEFINITION UAV-LIST-P))
 (2741 2741 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (2698 2698 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (2540 1406 (:REWRITE DEFAULT-CAR))
 (2366 2366 (:LINEAR EVENLY-SPACED-BOUNDARIES-CONSTANT))
 (2195 2195 (:REWRITE UAV-ID-EQUIV-TO-DOUBLE-CONTAINMENT))
 (2156 4 (:REWRITE EVENT-FOR-UAV-UPDATE-LOCATION-ALL))
 (2139 1095 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (1849 641 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (1799 250 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-LEFT))
 (1723 234 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-RIGHT))
 (1690 44 (:REWRITE IMPENDING-EVENT-FOR-UAV-STILL-IMPENDING))
 (1534 724 (:REWRITE UPDATE-UAV-LOCATION-ZERO))
 (1514 88 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-STILL-PENDING))
 (1487 44 (:REWRITE NOT-IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL-INVARIANT-AWKWARD))
 (1436 855 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (1133 1133 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (1074 44 (:REWRITE IMPENDING-ESCORT-FOR-UAV-STILL-PENDING))
 (966 322 (:LINEAR FLIP-ON-EVENTS-IS-CLOSER-TO-EVENT-LINEAR))
 (872 4 (:REWRITE EVENT-FOR-UAV-FROM-IMPENDING-EVENT))
 (749 265 (:REWRITE LEN-UPDATE-LOCATION-ALL))
 (585 585 (:REWRITE NOT-UAV-ID-P-N))
 (530 228 (:REWRITE UPDATE-LOCATION-ALL-ZERO))
 (512 136 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-2))
 (440 88 (:REWRITE IMMINENT-EVENT-IMPLIES-IMPACT-EVENT))
 (418 418 (:REWRITE UAV-FIX-UNDER-UAV-EQUIV))
 (322 322 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (286 286 (:REWRITE FOLD-CONSTS-IN-+))
 (278 90 (:REWRITE POSITIVE-SUM))
 (276 92 (:REWRITE IMPENDING-ESCORT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (276 6 (:REWRITE UAV-LOCATION-FIX-UAV-LOCATION-P))
 (264 44 (:REWRITE CHASING-NEIGHBOR-IS-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (262 6 (:DEFINITION UAV-LOCATION-P))
 (222 101 (:REWRITE O-INFP->NEQ-0))
 (220 44 (:REWRITE LESS-THAN-LEAST-IMPLIES-LESS-THAN-ANY))
 (218 109 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-1))
 (201 201 (:REWRITE HELPER-RULE))
 (201 201 (:REWRITE <-UAV-ID-FIX-N-REWRITE-1))
 (148 8 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLIES-LT-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (133 133 (:REWRITE PLUS-EQUAL-N-TO-EQUIV-N-MINUS-1))
 (132 66 (:REWRITE WF-ENSEMBLE-IMPLIES-WF-ENSEMBLE-FLIP-ON-EVENTS))
 (126 97 (:DEFINITION NATP))
 (107 107 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (107 107 (:REWRITE ESCORT-CONDITION-NECC))
 (107 107 (:META *META*-UNHIDE-HIDE))
 (100 12 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-LT-CHAINING))
 (97 97 (:TYPE-PRESCRIPTION NATP))
 (49 7 (:REWRITE DEFUNG::NATP-FIX))
 (45 9 (:REWRITE NOT-EQUAL-ALWAYS-SMALLEST-MEANS-GREATER))
 (44 44 (:TYPE-PRESCRIPTION CHASING-NEIGHBOR))
 (44 44 (:REWRITE ZOOLA))
 (33 33 (:TYPE-PRESCRIPTION NNRAT-FIX-FAST$INLINE))
 (24 4 (:REWRITE NOT-EVENT-FOR-UAV-FROM-NOT-IMPENDING-IMPACT-EVENT))
 (24 4 (:REWRITE EVENT-FOR-UAV-UPDATE-LOCATION-ALL-STRONG))
 (12 12 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-CHAINING))
 (12 12 (:REWRITE COMBINE-CONSTANTS-LINEAR))
 (8 8 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 (8 8 (:REWRITE T-IMPLIES-NNRAT-P-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 )
(TIME-TO-EVENT-IS-BOUNDED-BY-DISTANCE-TO-BOUNDARY-LEFT
 (385426 1643 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (228948 1255 (:REWRITE EVENT-FOR-UAV-IMPLIES-IMPENDING-EVENT-FOR-UAV))
 (179224 8193 (:REWRITE EVENT-FOR-UAV-N))
 (147290 86 (:REWRITE IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL-STRONG))
 (94649 649 (:REWRITE IMPENDING-EVENT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (90325 1643 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY-TOO))
 (88058 3065 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (69909 1643 (:REWRITE MIN-TIME-TO-IMPACT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (66392 6381 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (65022 56598 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (58807 2557 (:LINEAR EVENLY-SPACED-BOUNDARIES))
 (45834 15278 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (44360 344 (:REWRITE FLIP-UAV-UPDATE-LOCATION-ALL))
 (40071 15290 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (29029 3954 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (23853 1037 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (22993 2569 (:REWRITE COMBINE-CONSTANTS-LINEAR))
 (21329 13642 (:REWRITE NORMALIZE-ADDITIVE-CONSTANTS-UNDER-<))
 (18711 66 (:DEFINITION LEN))
 (17871 2553 (:REWRITE UAV-ID-FIX-PLUS))
 (15873 15873 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (15873 15873 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (13643 13643 (:REWRITE RIGHT-PERIMETER-PINCHING))
 (12055 1206 (:REWRITE POSITIVE-TO-ONE))
 (11561 2318 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (9709 4639 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (9453 1643 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY))
 (9377 8193 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (7979 1643 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (6640 118 (:DEFINITION =))
 (4947 1342 (:REWRITE IMPLIES-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (4053 2331 (:REWRITE DEFAULT-CDR))
 (3970 841 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (3919 33 (:DEFINITION UAV-LIST-FIX$INLINE))
 (3899 241 (:DEFINITION UAV-LIST-P))
 (2585 2557 (:LINEAR EVENLY-SPACED-BOUNDARIES-CONSTANT))
 (2574 1424 (:REWRITE DEFAULT-CAR))
 (2553 2553 (:REWRITE <-UAV-ID-FIX-N-REWRITE-1))
 (2195 1115 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (2177 297 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-RIGHT))
 (2105 281 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-LEFT))
 (1884 4 (:REWRITE EVENT-FOR-UAV-UPDATE-LOCATION-ALL))
 (1809 627 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (1652 43 (:REWRITE IMPENDING-EVENT-FOR-UAV-STILL-IMPENDING))
 (1544 712 (:REWRITE UPDATE-UAV-LOCATION-ZERO))
 (1536 192 (:REWRITE TIMES-DIRECTION))
 (1503 1503 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (1480 86 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-STILL-PENDING))
 (1456 43 (:REWRITE NOT-IMPACT-EVENT-FOR-UAV-UPDATE-LOCATION-ALL-INVARIANT-AWKWARD))
 (1413 841 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (1206 1206 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (1106 1106 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (1050 43 (:REWRITE IMPENDING-ESCORT-FOR-UAV-STILL-PENDING))
 (945 315 (:LINEAR FLIP-ON-EVENTS-IS-CLOSER-TO-EVENT-LINEAR))
 (736 4 (:REWRITE EVENT-FOR-UAV-FROM-IMPENDING-EVENT))
 (710 265 (:REWRITE LEN-UPDATE-LOCATION-ALL))
 (708 232 (:REWRITE O-INFP->NEQ-0))
 (543 229 (:REWRITE UPDATE-LOCATION-ALL-ZERO))
 (501 133 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-2))
 (438 87 (:REWRITE POSITIVE-SUM))
 (436 8 (:REWRITE UAV-LOCATION-FIX-UAV-LOCATION-P))
 (430 86 (:REWRITE IMMINENT-EVENT-IMPLIES-IMPACT-EVENT))
 (418 418 (:REWRITE UAV-FIX-UNDER-UAV-EQUIV))
 (418 8 (:DEFINITION UAV-LOCATION-P))
 (313 313 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (288 288 (:REWRITE FOLD-CONSTS-IN-+))
 (288 288 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (276 90 (:DEFINITION NATP))
 (270 90 (:REWRITE IMPENDING-ESCORT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (258 43 (:REWRITE CHASING-NEIGHBOR-IS-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (215 43 (:REWRITE LESS-THAN-LEAST-IMPLIES-LESS-THAN-ANY))
 (212 106 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-1))
 (194 194 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (172 172 (:REWRITE HELPER-RULE))
 (172 172 (:REWRITE <-C-UAV-ID-FIX-REWRITE-0))
 (148 8 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLIES-LT-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (144 16 (:REWRITE DEGENERATE-ZED))
 (130 65 (:REWRITE WF-ENSEMBLE-IMPLIES-WF-ENSEMBLE-FLIP-ON-EVENTS))
 (109 109 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (109 109 (:REWRITE ESCORT-CONDITION-NECC))
 (109 109 (:META *META*-UNHIDE-HIDE))
 (100 12 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-LT-CHAINING))
 (90 90 (:TYPE-PRESCRIPTION NATP))
 (83 83 (:LINEAR LEFT-PERIMETER-BOUNDARY-LOWER-BOUND))
 (78 78 (:REWRITE NORMALIZE-ADDITIVE-CONSTANTS-UNDER-EQUALITY))
 (48 4 (:REWRITE UAV-RIGHT-BOUNDARY-FLIP-UAV))
 (45 9 (:REWRITE NOT-EQUAL-ALWAYS-SMALLEST-MEANS-GREATER))
 (43 43 (:TYPE-PRESCRIPTION CHASING-NEIGHBOR))
 (43 43 (:REWRITE ZOOLA))
 (40 4 (:LINEAR EVENLY-SPACED-BETWEE-PERIMETER-BOUNDARIES))
 (33 33 (:TYPE-PRESCRIPTION NNRAT-FIX-FAST$INLINE))
 (24 4 (:REWRITE NOT-EVENT-FOR-UAV-FROM-NOT-IMPENDING-IMPACT-EVENT))
 (24 4 (:REWRITE EVENT-FOR-UAV-UPDATE-LOCATION-ALL-STRONG))
 (21 3 (:REWRITE DEFUNG::NATP-FIX))
 (12 12 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-CHAINING))
 (8 8 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 (8 8 (:REWRITE T-IMPLIES-NNRAT-P-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 )
(NOT-LTE-TIME-TO-EVENT-LEFT
 (24673 84 (:REWRITE EVENT-FOR-UAV-IMPLIES-IMPENDING-EVENT-FOR-UAV))
 (21997 54 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (16358 205 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (10057 222 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (9980 433 (:REWRITE EVENT-FOR-UAV-N))
 (9935 662 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (8853 419 (:REWRITE DEFUNG::NATP-FIX))
 (8631 3 (:DEFINITION LEN))
 (7951 204 (:DEFINITION NATP))
 (6831 99 (:DEFINITION =))
 (5696 2870 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (4649 1527 (:REWRITE |(< (- x) c)|))
 (4276 13 (:REWRITE UAV-LOCATION-FIX-UAV-LOCATION-P))
 (4250 13 (:DEFINITION UAV-LOCATION-P))
 (3834 6 (:REWRITE EVENT-FOR-UAV-UPDATE-LOCATION-ALL))
 (3667 1724 (:REWRITE DEFAULT-LESS-THAN-2))
 (3492 150 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-RIGHT))
 (3492 150 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-LEFT))
 (3204 1068 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (3159 42 (:REWRITE IMPENDING-EVENT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (2978 301 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (2293 433 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (2192 94 (:REWRITE POSITIVE-TO-ONE))
 (2189 1773 (:REWRITE DEFAULT-PLUS-1))
 (2182 854 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (1844 854 (:REWRITE PREFER-POSITIVE-ADDENDS-EQUAL))
 (1824 854 (:REWRITE SIMPLIFY-PRODUCTS-GATHER-EXPONENTS-EQUAL))
 (1724 1724 (:REWRITE THE-FLOOR-BELOW))
 (1724 1724 (:REWRITE THE-FLOOR-ABOVE))
 (1701 3 (:DEFINITION UAV-LIST-FIX$INLINE))
 (1644 6 (:LINEAR POSITIVE-MIN-TIME-TO-IMPACT-FOR-UAV))
 (1632 6 (:LINEAR NNEG-MIN-TIME-TO-IMPACT-FOR-UAV))
 (1553 1553 (:REWRITE REDUCE-RATIONAL-MULTIPLICATIVE-CONSTANT-<))
 (1553 1553 (:REWRITE REDUCE-MULTIPLICATIVE-CONSTANT-<))
 (1531 1531 (:REWRITE |(< c (/ x)) positive c --- present in goal|))
 (1531 1531 (:REWRITE |(< c (/ x)) positive c --- obj t or nil|))
 (1531 1531 (:REWRITE |(< c (/ x)) negative c --- present in goal|))
 (1531 1531 (:REWRITE |(< c (/ x)) negative c --- obj t or nil|))
 (1531 1531 (:REWRITE |(< (/ x) c) positive c --- present in goal|))
 (1531 1531 (:REWRITE |(< (/ x) c) positive c --- obj t or nil|))
 (1531 1531 (:REWRITE |(< (/ x) c) negative c --- present in goal|))
 (1531 1531 (:REWRITE |(< (/ x) c) negative c --- obj t or nil|))
 (1531 1531 (:REWRITE |(< (/ x) (/ y))|))
 (1531 1531 (:REWRITE |(< (- x) (- y))|))
 (1527 1527 (:REWRITE |(< c (- x))|))
 (1497 806 (:REWRITE INTEGERP-MINUS-X))
 (1442 1442 (:REWRITE INTEGERP-<-CONSTANT))
 (1442 1442 (:REWRITE CONSTANT-<-INTEGERP))
 (1420 352 (:REWRITE RATIONALP-X))
 (1215 642 (:REWRITE DEFAULT-MINUS))
 (1208 854 (:REWRITE SIMPLIFY-SUMS-EQUAL))
 (1188 12 (:LINEAR EVENLY-SPACED-BOUNDARIES))
 (1140 54 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (1092 48 (:REWRITE DEGENERATE-ZED))
 (1048 1036 (:REWRITE REMOVE-WEAK-INEQUALITIES))
 (1038 903 (:REWRITE DEFAULT-TIMES-2))
 (1034 1034 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (1034 1034 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (970 33 (:REWRITE UPDATE-UAV-LOCATION-ZERO))
 (909 54 (:DEFINITION UAV-LIST-P))
 (907 903 (:REWRITE DEFAULT-TIMES-1))
 (858 858 (:REWRITE REDUCE-MULTIPLICATIVE-CONSTANT-EQUAL))
 (858 858 (:REWRITE REDUCE-ADDITIVE-CONSTANT-EQUAL))
 (858 858 (:REWRITE |(equal c (/ x))|))
 (858 858 (:REWRITE |(equal (/ x) (/ y))|))
 (858 858 (:REWRITE |(equal (- x) (- y))|))
 (854 854 (:REWRITE EQUAL-OF-PREDICATES-REWRITE))
 (854 854 (:REWRITE |(equal c (- x))|))
 (854 854 (:REWRITE |(equal (- x) c)|))
 (721 721 (:REWRITE REDUCE-INTEGERP-+))
 (721 721 (:META META-INTEGERP-CORRECT))
 (624 624 (:REWRITE |(< 0 (/ x))|))
 (624 624 (:REWRITE |(< 0 (* x y))|))
 (620 140 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (604 604 (:REWRITE RIGHT-PERIMETER-PINCHING))
 (585 585 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-0-<-AX+BX-RATIONAL-REMAINDER))
 (585 585 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-0-<-AX+BX-RATIONAL-COMMON))
 (569 342 (:REWRITE DEFAULT-CDR))
 (523 523 (:REWRITE NORMALIZE-TERMS-SUCH-AS-A/A+B-+-B/A+B))
 (473 140 (:REWRITE O-INFP->NEQ-0))
 (420 12 (:LINEAR EVENLY-SPACED-BOUNDARIES-CONSTANT))
 (413 212 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (378 54 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY))
 (366 12 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLIES-LT-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (362 362 (:REWRITE NORMALIZE-FACTORS-GATHER-EXPONENTS))
 (361 361 (:REWRITE |(* (- x) y)|))
 (352 352 (:REWRITE REDUCE-RATIONALP-+))
 (352 352 (:REWRITE REDUCE-RATIONALP-*))
 (352 352 (:REWRITE RATIONALP-MINUS-X))
 (352 352 (:META META-RATIONALP-CORRECT))
 (341 199 (:REWRITE DEFAULT-CAR))
 (336 150 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (324 54 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY-TOO))
 (316 310 (:TYPE-PRESCRIPTION BUBBLE-DOWN))
 (312 12 (:LINEAR POSITIVE-BOUNDARIES))
 (312 12 (:LINEAR EVEN-RIGHT-BOUNDARY-IS-LTE-RIGHT-PERIMETER-BOUNDARY))
 (311 311 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-=-0))
 (300 12 (:REWRITE UAV-RIGHT-BOUNDARY-FLIP-UAV))
 (300 12 (:LINEAR LEFT-PERIMETER-BOUNDARY-LT-UAV-RIGHT-BOUNDARY))
 (288 12 (:LINEAR EVENLY-SPACED-BETWEE-PERIMETER-BOUNDARIES))
 (285 285 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (232 232 (:REWRITE |(< (* x y) 0)|))
 (232 216 (:REWRITE |(< (/ x) 0)|))
 (225 140 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (222 74 (:REWRITE POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (204 204 (:TYPE-PRESCRIPTION NATP))
 (174 6 (:REWRITE EVENT-FOR-UAV-FROM-IMPENDING-EVENT))
 (162 54 (:REWRITE MIN-TIME-TO-IMPACT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (162 54 (:REWRITE IMPLIES-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (161 161 (:REWRITE |(< (+ c/d x) y)|))
 (159 159 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (150 18 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-LT-CHAINING))
 (139 139 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (139 139 (:REWRITE HELPER-RULE))
 (139 139 (:REWRITE <-C-UAV-ID-FIX-REWRITE-0))
 (136 136 (:REWRITE NORMALIZE-ADDITIVE-CONSTANTS-UNDER-<))
 (136 4 (:REWRITE |(<= x (/ y)) with (< y 0)|))
 (136 4 (:REWRITE |(<= x (/ y)) with (< 0 y)|))
 (136 4 (:REWRITE |(<= (/ x) y) with (< x 0)|))
 (136 4 (:REWRITE |(<= (/ x) y) with (< 0 x)|))
 (136 4 (:REWRITE |(< x (/ y)) with (< y 0)|))
 (136 4 (:REWRITE |(< x (/ y)) with (< 0 y)|))
 (136 4 (:REWRITE |(< (/ x) y) with (< x 0)|))
 (136 4 (:REWRITE |(< (/ x) y) with (< 0 x)|))
 (120 24 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (116 116 (:REWRITE |(< y (+ (- c) x))|))
 (116 116 (:REWRITE |(< x (+ c/d y))|))
 (111 111 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-<-0-RATIONAL-REMAINDER))
 (111 111 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-<-0-RATIONAL-COMMON))
 (107 22 (:REWRITE UPDATE-LOCATION-ALL-ZERO))
 (94 94 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (86 86 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (85 85 (:REWRITE |(< (* x y) 0) rationalp (* x y)|))
 (76 76 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (72 6 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST))
 (60 4 (:REWRITE ACL2-NUMBERP-X))
 (45 45 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (45 45 (:REWRITE ESCORT-CONDITION-NECC))
 (45 45 (:META *META*-UNHIDE-HIDE))
 (42 6 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-2))
 (36 6 (:REWRITE NOT-EVENT-FOR-UAV-FROM-NOT-IMPENDING-IMPACT-EVENT))
 (36 6 (:REWRITE EVENT-FOR-UAV-UPDATE-LOCATION-ALL-STRONG))
 (35 35 (:REWRITE UAV-ID-EQUIV-TO-DOUBLE-CONTAINMENT))
 (32 32 (:REWRITE UAV-FIX-UNDER-UAV-EQUIV))
 (23 23 (:TYPE-PRESCRIPTION NNRAT-FIX-FAST$INLINE))
 (18 18 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-CHAINING))
 (18 6 (:REWRITE IMPENDING-ESCORT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (18 6 (:LINEAR FLIP-ON-EVENTS-IS-CLOSER-TO-EVENT-LINEAR))
 (15 15 (:REWRITE LEN-UPDATE-LOCATION-ALL))
 (14 14 (:REWRITE T-IMPLIES-NNRAT-P-NNRAT-FIX))
 (13 13 (:REWRITE FOLD-CONSTS-IN-+))
 (13 13 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (12 12 (:REWRITE T-IMPLIES-NNRAT-P-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (12 6 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-1))
 (9 9 (:REWRITE COMBINE-CONSTANTS-LINEAR))
 (8 8 (:REWRITE INTEGERP-/))
 (8 8 (:REWRITE DEFAULT-DIVIDE))
 (4 4 (:REWRITE |(not (equal x (/ y)))|))
 (4 4 (:REWRITE |(equal x (/ y))|))
 )
(NOT-LTE-TIME-TO-EVENT-RIGHT
 (22778 50 (:REWRITE EVENT-FOR-UAV-IMPLIES-ZP-MIN-TIME-TO-IMPACT-FOR-UAV))
 (20497 64 (:REWRITE EVENT-FOR-UAV-IMPLIES-IMPENDING-EVENT-FOR-UAV))
 (10146 229 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (9852 635 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (8960 314 (:REWRITE DEFUNG::NATP-FIX))
 (8631 3 (:DEFINITION LEN))
 (8155 153 (:DEFINITION NATP))
 (6747 39 (:LINEAR EVENLY-SPACED-BOUNDARIES))
 (6606 261 (:REWRITE EVENT-FOR-UAV-0))
 (4927 1685 (:REWRITE |(< (- x) c)|))
 (4902 2472 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (4803 296 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (4722 6 (:REWRITE EVENT-FOR-UAV-UPDATE-LOCATION-ALL))
 (4339 163 (:REWRITE EVENT-FOR-UAV-LEFT))
 (3474 1158 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (3326 103 (:REWRITE EQUAL-SUM-TO-UAV-ID-EQUIV))
 (3256 1902 (:REWRITE DEFAULT-LESS-THAN-2))
 (3071 277 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (2737 2281 (:REWRITE DEFAULT-PLUS-1))
 (1902 1902 (:REWRITE THE-FLOOR-BELOW))
 (1902 1902 (:REWRITE THE-FLOOR-ABOVE))
 (1888 1841 (:REWRITE REDUCE-MULTIPLICATIVE-CONSTANT-<))
 (1873 50 (:REWRITE MIN-TIME-TO-IMPACT-FIX-UAV-ID))
 (1841 32 (:REWRITE IMPENDING-EVENT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (1840 1840 (:REWRITE REDUCE-RATIONAL-MULTIPLICATIVE-CONSTANT-<))
 (1814 8 (:REWRITE UAV-LOCATION-FIX-UAV-LOCATION-P))
 (1796 8 (:DEFINITION UAV-LOCATION-P))
 (1738 743 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (1720 743 (:REWRITE PREFER-POSITIVE-ADDENDS-EQUAL))
 (1701 3 (:DEFINITION UAV-LIST-FIX$INLINE))
 (1689 743 (:REWRITE SIMPLIFY-PRODUCTS-GATHER-EXPONENTS-EQUAL))
 (1685 1685 (:REWRITE |(< c (/ x)) positive c --- present in goal|))
 (1685 1685 (:REWRITE |(< c (/ x)) positive c --- obj t or nil|))
 (1685 1685 (:REWRITE |(< c (/ x)) negative c --- present in goal|))
 (1685 1685 (:REWRITE |(< c (/ x)) negative c --- obj t or nil|))
 (1685 1685 (:REWRITE |(< c (- x))|))
 (1685 1685 (:REWRITE |(< (/ x) c) positive c --- present in goal|))
 (1685 1685 (:REWRITE |(< (/ x) c) positive c --- obj t or nil|))
 (1685 1685 (:REWRITE |(< (/ x) c) negative c --- present in goal|))
 (1685 1685 (:REWRITE |(< (/ x) c) negative c --- obj t or nil|))
 (1685 1685 (:REWRITE |(< (/ x) (/ y))|))
 (1685 1685 (:REWRITE |(< (- x) (- y))|))
 (1610 1610 (:REWRITE INTEGERP-<-CONSTANT))
 (1610 1610 (:REWRITE CONSTANT-<-INTEGERP))
 (1568 925 (:REWRITE DEFAULT-TIMES-2))
 (1499 13 (:REWRITE OPEN-UAV-ID-P-SUM))
 (1470 680 (:REWRITE INTEGERP-MINUS-X))
 (1458 338 (:REWRITE RATIONALP-X))
 (1337 1118 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (1326 646 (:REWRITE DEFAULT-MINUS))
 (1303 743 (:REWRITE SIMPLIFY-SUMS-EQUAL))
 (1132 126 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-RIGHT))
 (1132 126 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-LEFT))
 (1119 1119 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (1113 1113 (:REWRITE NORMALIZE-TERMS-SUCH-AS-A/A+B-+-B/A+B))
 (991 991 (:REWRITE UAV-ID-P-CONSTANT))
 (981 925 (:REWRITE DEFAULT-TIMES-1))
 (977 58 (:DEFINITION UAV-LIST-P))
 (790 28 (:REWRITE UPDATE-UAV-LOCATION-ZERO))
 (759 759 (:REWRITE REDUCE-MULTIPLICATIVE-CONSTANT-EQUAL))
 (759 759 (:REWRITE REDUCE-ADDITIVE-CONSTANT-EQUAL))
 (747 747 (:REWRITE |(equal c (/ x))|))
 (747 747 (:REWRITE |(equal (/ x) (/ y))|))
 (747 747 (:REWRITE |(equal (- x) (- y))|))
 (743 743 (:REWRITE EQUAL-OF-PREDICATES-REWRITE))
 (743 743 (:REWRITE |(equal c (- x))|))
 (743 743 (:REWRITE |(equal (- x) c)|))
 (716 168 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (608 608 (:REWRITE REDUCE-INTEGERP-+))
 (608 608 (:META META-INTEGERP-CORRECT))
 (601 369 (:REWRITE DEFAULT-CDR))
 (506 338 (:REWRITE REDUCE-RATIONALP-*))
 (504 504 (:REWRITE |(< (+ c/d x) y)|))
 (401 215 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (384 384 (:REWRITE |(< (* x y) 0)|))
 (381 381 (:REWRITE NORMALIZE-FACTORS-GATHER-EXPONENTS))
 (378 378 (:REWRITE |(* (- x) y)|))
 (366 12 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLIES-LT-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (350 50 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY))
 (338 338 (:REWRITE RATIONALP-MINUS-X))
 (338 338 (:REWRITE |(< 0 (* x y))|))
 (338 148 (:REWRITE IMPACT-EVENT-FOR-UAV-IMPLIES-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (336 336 (:META META-RATIONALP-CORRECT))
 (335 198 (:REWRITE DEFAULT-CAR))
 (330 330 (:REWRITE |(< (/ x) 0)|))
 (322 322 (:REWRITE |(< 0 (/ x))|))
 (300 50 (:REWRITE THIS-SEEMS-LIKE-A-NICE-PROPERTY-TOO))
 (288 288 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-0-<-AX+BX-RATIONAL-REMAINDER))
 (288 288 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-0-<-AX+BX-RATIONAL-COMMON))
 (288 244 (:TYPE-PRESCRIPTION BUBBLE-DOWN))
 (267 267 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (263 168 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (252 252 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (249 249 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-<-0-RATIONAL-REMAINDER))
 (249 249 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-<-0-RATIONAL-COMMON))
 (206 206 (:REWRITE NORMALIZE-ADDITIVE-CONSTANTS-UNDER-EQUALITY))
 (180 60 (:REWRITE POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (174 6 (:REWRITE EVENT-FOR-UAV-FROM-IMPENDING-EVENT))
 (169 169 (:REWRITE |(< y (+ (- c) x))|))
 (169 169 (:REWRITE |(< x (+ c/d y))|))
 (164 16 (:REWRITE |(<= (/ x) y) with (< x 0)|))
 (164 16 (:REWRITE |(< x (/ y)) with (< y 0)|))
 (158 158 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (157 157 (:TYPE-PRESCRIPTION NATP))
 (153 153 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (150 50 (:REWRITE MIN-TIME-TO-IMPACT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (150 50 (:REWRITE IMPLIES-NOT-IMPENDING-IMPACT-EVENT-FOR-UAV))
 (150 18 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-LT-CHAINING))
 (149 149 (:REWRITE HELPER-RULE))
 (146 146 (:REWRITE <-UAV-ID-FIX-N-REWRITE-1))
 (138 27 (:REWRITE IMPENDING-IMPACT-EVENT-FOR-UAV-FLIP-ON-EVENTS-INVARIANT))
 (128 4 (:REWRITE |(<= x (/ y)) with (< y 0)|))
 (128 4 (:REWRITE |(< (/ x) y) with (< x 0)|))
 (108 108 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-=-0))
 (108 9 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST))
 (103 103 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (97 12 (:REWRITE UPDATE-LOCATION-ALL-ZERO))
 (81 81 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (76 76 (:REWRITE |(< (* x y) 0) rationalp (* x y)|))
 (65 13 (:REWRITE UAV-ID-P-PLUS-C))
 (60 4 (:REWRITE ACL2-NUMBERP-X))
 (52 16 (:REWRITE |(<= (/ x) y) with (< 0 x)|))
 (49 49 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (49 49 (:REWRITE ESCORT-CONDITION-NECC))
 (49 49 (:META *META*-UNHIDE-HIDE))
 (44 44 (:TYPE-PRESCRIPTION RFIX))
 (42 6 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-2))
 (40 4 (:REWRITE |(integerp (- x))|))
 (39 39 (:LINEAR EVENLY-SPACED-BOUNDARIES-CONSTANT))
 (36 6 (:REWRITE NOT-EVENT-FOR-UAV-FROM-NOT-IMPENDING-IMPACT-EVENT))
 (36 6 (:REWRITE EVENT-FOR-UAV-UPDATE-LOCATION-ALL-STRONG))
 (32 32 (:REWRITE UAV-FIX-UNDER-UAV-EQUIV))
 (32 32 (:REWRITE INTEGERP-/))
 (31 23 (:REWRITE O-INFP->NEQ-0))
 (27 9 (:LINEAR FLIP-ON-EVENTS-IS-CLOSER-TO-EVENT-LINEAR))
 (23 23 (:TYPE-PRESCRIPTION NNRAT-FIX-FAST$INLINE))
 (22 22 (:REWRITE FOLD-CONSTS-IN-+))
 (22 22 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (18 18 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-CHAINING))
 (18 6 (:REWRITE IMPENDING-ESCORT-FOR-UAV-STILL-IMPENDING-FLIP-ON-EVENTS))
 (15 15 (:REWRITE LEN-UPDATE-LOCATION-ALL))
 (14 14 (:REWRITE T-IMPLIES-NNRAT-P-NNRAT-FIX))
 (13 13 (:REWRITE NOT-UAV-ID-P-N))
 (13 13 (:LINEAR LEFT-PERIMETER-BOUNDARY-LOWER-BOUND))
 (12 12 (:REWRITE UAV-ID-EQUIV-TO-DOUBLE-CONTAINMENT))
 (12 12 (:REWRITE T-IMPLIES-NNRAT-P-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (12 6 (:REWRITE LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-IMPLICATION-1))
 (12 1 (:REWRITE |(* y (* x z))|))
 (11 11 (:REWRITE COMBINE-CONSTANTS-LINEAR))
 (4 4 (:REWRITE INTEGERP-+-REDUCE-CONSTANT))
 (4 4 (:REWRITE DEFAULT-DIVIDE))
 (4 4 (:REWRITE |(not (equal x (/ y)))|))
 (4 4 (:REWRITE |(equal x (/ y))|))
 (4 4 (:REWRITE |(<= x (/ y)) with (< 0 y)|))
 (4 4 (:REWRITE |(< (/ x) y) with (< 0 x)|))
 (4 4 (:REWRITE |(- (- x))|))
 (3 3 (:REWRITE <-C-UAV-ID-FIX-REWRITE-0))
 (2 2 (:REWRITE |(equal x (if a b c))|))
 (2 2 (:REWRITE |(equal (if a b c) x)|))
 (2 2 (:REWRITE |(* (if a b c) x)|))
 (1 1 (:TYPE-PRESCRIPTION NOT-INTEGERP-3A))
 (1 1 (:TYPE-PRESCRIPTION NOT-INTEGERP-2A))
 (1 1 (:TYPE-PRESCRIPTION NOT-INTEGERP-1A))
 (1 1 (:TYPE-PRESCRIPTION ABS))
 (1 1 (:REWRITE |(* a (/ a) b)|))
 )
(TEE)
(IMPLIES-NNRAT-P-TEE)
(TEE)
(NOT-LTE-TIME-TO-EVENT
 (466 26 (:DEFINITION UAV-LIST-P))
 (354 12 (:DEFINITION ORDERED-LOCATION-LIST-P))
 (340 44 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (234 12 (:DEFINITION LEN))
 (100 100 (:REWRITE DEFAULT-CDR))
 (88 88 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (78 42 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (76 38 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (42 42 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (40 40 (:REWRITE DEFAULT-CAR))
 (39 23 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (36 12 (:REWRITE UAV-FIX-WHEN-UAV-P))
 (32 16 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (18 18 (:TYPE-PRESCRIPTION <=LOCATION-ALL))
 (16 8 (:LINEAR POSP-N))
 (12 12 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (12 2 (:REWRITE O-INFP->NEQ-0))
 (10 10 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (10 10 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (10 10 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (8 8 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (8 8 (:REWRITE RIGHT-PERIMETER-PINCHING))
 (8 8 (:REWRITE NORMALIZE-ADDITIVE-CONSTANTS-UNDER-<))
 (8 8 (:REWRITE ESCORT-CONDITION-NECC))
 (8 8 (:META *META*-UNHIDE-HIDE))
 (8 8 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-RIGHT))
 (8 8 (:LINEAR LTE-MIN-TIME-TO-IMPENDING-IMPACT-EVENT-BOUNDED-BY-LOCATION-LEFT))
 (8 8 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (6 2 (:REWRITE O-FIRST-EXPT-O-INFP))
 (4 4 (:TYPE-PRESCRIPTION BOOLEANP))
 (4 4 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (4 2 (:REWRITE O-INFP-O-FINP-O<=))
 (4 2 (:REWRITE O-FIRST-EXPT-DEF-O-FINP))
 (2 2 (:REWRITE |a < b & b < c  =>  a < c|))
 )
(NOT-LT-TIME-TO-EVENT-PROPERTY
 (472994 5393 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (418996 48259 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (396513 13983 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (352338 3438 (:DEFINITION LEN))
 (314928 3756 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (252330 16186 (:DEFINITION UAV-LIST-P))
 (60994 114 (:DEFINITION UAV-LIST-FIX$INLINE))
 (39109 38443 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (31356 30099 (:REWRITE DEFAULT-CDR))
 (19766 9398 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (18406 17353 (:REWRITE DEFAULT-CAR))
 (17106 17106 (:TYPE-PRESCRIPTION LEN))
 (13622 136 (:REWRITE ITH-UAV-UPDATE-LOCATION-ALL))
 (13486 136 (:DEFINITION UPDATE-LOCATION-UAV))
 (12708 248 (:REWRITE EVENT-FOR-UAV-N))
 (12596 1939 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (10792 122 (:REWRITE LEN-OF-UAV-LIST-FIX))
 (9968 9398 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (6964 2971 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (5256 5256 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (4428 248 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (4428 248 (:REWRITE EVENT-FOR-UAV-LEFT))
 (4428 248 (:REWRITE EVENT-FOR-UAV-0))
 (3756 3756 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (3756 3756 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (3594 136 (:LINEAR POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (3456 1728 (:LINEAR POSP-N))
 (3264 136 (:REWRITE UAV->DIRECTION-UPDATE-UAV-LOCATION))
 (3251 319 (:REWRITE FLIP-ON-EVENTS-INVARIANTS))
 (3128 136 (:REWRITE UAV->DIRECTION-FLIP-UAV))
 (2920 292 (:REWRITE POSITIVE-TO-ONE))
 (2920 292 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (2598 2364 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (2364 2364 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (2364 2364 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (2206 1103 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (1990 1990 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (1462 248 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (1224 102 (:REWRITE LEN-UPDATE-LOCATION-ALL))
 (1132 183 (:REWRITE POSITIVE-SUM))
 (976 247 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (829 319 (:REWRITE WF-ENSEMBLE-IMPLIES-ESCORT-CONDITION-FLIP-ON-EVENTS))
 (782 136 (:REWRITE THIS-IS-GETTING-RIDICULOUS))
 (702 136 (:REWRITE UPDATE-UAV-LOCATION-ZERO))
 (698 34 (:REWRITE EVENT-FOR-UAV-UPDATE-LOCATION-ALL-LTE))
 (690 81 (:REWRITE UPDATE-LOCATION-ALL-ZERO))
 (669 223 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (649 120 (:DEFINITION NATP))
 (584 584 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (528 528 (:REWRITE UAV-FIX-UNDER-UAV-EQUIV))
 (374 136 (:REWRITE ITH-UAV-FLIP-ON-EVENTS))
 (318 318 (:REWRITE NORMALIZE-ADDITIVE-CONSTANTS-UNDER-<))
 (292 292 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (292 292 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (264 264 (:TYPE-PRESCRIPTION SEQUENTIAL-ID-LIST-P))
 (247 247 (:REWRITE UAV-ID-FIX-CONSTANT))
 (244 122 (:REWRITE CDR-OF-UAV-LIST-FIX-X-UNDER-UAV-LIST-EQUIV))
 (238 136 (:REWRITE NOT-EVENT-IMPLIES-FLIP-UAV-ID))
 (224 224 (:REWRITE T-IMPLIES-UAV-LIST-P-FLIP-ON-EVENTS))
 (207 207 (:TYPE-PRESCRIPTION UAV-ID-FIX))
 (205 205 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (204 204 (:TYPE-PRESCRIPTION EXISTS-UAV-WITH-EVENT))
 (170 34 (:REWRITE NOT-EVENT-FOR-UAV-FROM-NOT-IMPENDING-IMPACT-EVENT))
 (170 34 (:REWRITE EVENT-FOR-UAV-UPDATE-LOCATION-ALL-STRONG))
 (170 34 (:REWRITE EVENT-FOR-UAV-UPDATE-LOCATION-ALL))
 (170 34 (:REWRITE EVENT-FOR-UAV-FROM-IMPENDING-EVENT))
 (137 137 (:REWRITE UAV-ID-P-CONSTANT))
 (136 136 (:LINEAR ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT-IS-SMALLEST-BETTER-TRIGGER))
 (122 122 (:REWRITE CONSP-OF-UAV-LIST-FIX))
 (120 120 (:TYPE-PRESCRIPTION NATP))
 (102 102 (:REWRITE LEN-FLIP-ON-EVENTS))
 (102 102 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (90 90 (:REWRITE T-IMPLIES-NNRAT-P-NNRAT-FIX))
 (65 13 (:REWRITE POSITIVE-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (55 55 (:REWRITE T-IMPLIES-NNRAT-P-ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (34 34 (:TYPE-PRESCRIPTION NNRAT-FIX-FAST$INLINE))
 (31 31 (:REWRITE FOLD-CONSTS-IN-+))
 (31 31 (:REWRITE DEFUNG::COMBINE-AND-EVALUATE-CONSTANTS))
 (22 22 (:REWRITE T-IMPLIES-UAV-ID-P-UAV-ID-FIX))
 (17 17 (:LINEAR TIME-TO-EVENT-UPPER-BOUND))
 (16 4 (:REWRITE RATIONALP-+))
 (13 13 (:TYPE-PRESCRIPTION BOOLEANP))
 (1 1 (:REWRITE O-INFP->NEQ-0))
 )
(OPEN-STEP-TIME-ON-TEE
 (2072 4 (:DEFINITION TIME-TO-EVENT))
 (1032 4 (:REWRITE HOW-LONG??))
 (584 4 (:DEFINITION NEXT-STEP))
 (280 8 (:DEFINITION MIN))
 (272 272 (:TYPE-PRESCRIPTION ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (248 4 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (244 4 (:REWRITE EVENT-FOR-UAV-0))
 (236 4 (:REWRITE EVENT-FOR-UAV-N))
 (228 4 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (228 4 (:REWRITE EVENT-FOR-UAV-LEFT))
 (184 184 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (184 8 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (180 36 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (180 8 (:REWRITE POSITIVE-TO-ONE))
 (92 4 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (82 5 (:REWRITE DEFUNG::NATP-FIX))
 (76 4 (:REWRITE |(+ x (if a b c))|))
 (72 4 (:REWRITE |(- (if a b c))|))
 (71 1 (:DEFINITION NATP))
 (67 30 (:REWRITE |(< (- x) c)|))
 (64 24 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (60 35 (:REWRITE DEFAULT-PLUS-1))
 (56 24 (:REWRITE PREFER-POSITIVE-ADDENDS-EQUAL))
 (52 24 (:REWRITE SIMPLIFY-PRODUCTS-GATHER-EXPONENTS-EQUAL))
 (52 4 (:REWRITE UAV-ID-FIX-FAST-TO-UAV-ID-FIX))
 (46 30 (:REWRITE DEFAULT-LESS-THAN-2))
 (45 29 (:REWRITE PREFER-POSITIVE-ADDENDS-<))
 (44 4 (:REWRITE |(+ (if a b c) x)|))
 (41 29 (:REWRITE SIMPLIFY-PRODUCTS-GATHER-EXPONENTS-<))
 (40 20 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (38 30 (:REWRITE DEFAULT-LESS-THAN-1))
 (35 15 (:REWRITE DEFAULT-MINUS))
 (30 30 (:REWRITE THE-FLOOR-BELOW))
 (30 30 (:REWRITE THE-FLOOR-ABOVE))
 (30 30 (:REWRITE REDUCE-RATIONAL-MULTIPLICATIVE-CONSTANT-<))
 (30 30 (:REWRITE REDUCE-MULTIPLICATIVE-CONSTANT-<))
 (30 30 (:REWRITE REDUCE-ADDITIVE-CONSTANT-<))
 (30 30 (:REWRITE |(< c (/ x)) positive c --- present in goal|))
 (30 30 (:REWRITE |(< c (/ x)) positive c --- obj t or nil|))
 (30 30 (:REWRITE |(< c (/ x)) negative c --- present in goal|))
 (30 30 (:REWRITE |(< c (/ x)) negative c --- obj t or nil|))
 (30 30 (:REWRITE |(< c (- x))|))
 (30 30 (:REWRITE |(< (/ x) c) positive c --- present in goal|))
 (30 30 (:REWRITE |(< (/ x) c) positive c --- obj t or nil|))
 (30 30 (:REWRITE |(< (/ x) c) negative c --- present in goal|))
 (30 30 (:REWRITE |(< (/ x) c) negative c --- obj t or nil|))
 (30 30 (:REWRITE |(< (/ x) (/ y))|))
 (30 30 (:REWRITE |(< (- x) (- y))|))
 (29 29 (:REWRITE REMOVE-STRICT-INEQUALITIES))
 (29 29 (:REWRITE INTEGERP-<-CONSTANT))
 (29 29 (:REWRITE CONSTANT-<-INTEGERP))
 (24 24 (:REWRITE SIMPLIFY-SUMS-EQUAL))
 (24 24 (:REWRITE REDUCE-MULTIPLICATIVE-CONSTANT-EQUAL))
 (24 24 (:REWRITE REDUCE-ADDITIVE-CONSTANT-EQUAL))
 (24 24 (:REWRITE EQUAL-OF-PREDICATES-REWRITE))
 (24 24 (:REWRITE |(equal c (/ x))|))
 (24 24 (:REWRITE |(equal c (- x))|))
 (24 24 (:REWRITE |(equal (/ x) c)|))
 (24 24 (:REWRITE |(equal (/ x) (/ y))|))
 (24 24 (:REWRITE |(equal (- x) c)|))
 (24 24 (:REWRITE |(equal (- x) (- y))|))
 (24 4 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (24 4 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (20 16 (:REWRITE DEFAULT-TIMES-2))
 (20 8 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (16 16 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (16 16 (:REWRITE DEFAULT-TIMES-1))
 (16 8 (:REWRITE NNRAT-FIX-FAST-TO-NNRAT-FIX))
 (13 13 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (13 13 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (13 13 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (13 13 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-0-<-AX+BX-RATIONAL-REMAINDER))
 (13 13 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-0-<-AX+BX-RATIONAL-COMMON))
 (13 13 (:REWRITE REMOVE-WEAK-INEQUALITIES))
 (13 13 (:REWRITE NORMALIZE-TERMS-SUCH-AS-A/A+B-+-B/A+B))
 (13 13 (:REWRITE |(< 0 (/ x))|))
 (13 13 (:REWRITE |(< 0 (* x y))|))
 (12 12 (:TYPE-PRESCRIPTION UAV-ID-P))
 (12 12 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (12 12 (:REWRITE VAL-OF-CONS))
 (12 12 (:REWRITE UAV-LIST-FIX-WHEN-UAV-LIST-P))
 (12 12 (:REWRITE OPEN-UAV-LIST-FIX))
 (12 4 (:REWRITE UAV-LIST-FIX!-TO-UAV-LIST-FIX))
 (12 4 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (10 2 (:REWRITE INTEGERP-MINUS-X))
 (9 9 (:REWRITE NORMALIZE-FACTORS-GATHER-EXPONENTS))
 (9 9 (:REWRITE |(< (/ x) 0)|))
 (9 9 (:REWRITE |(< (* x y) 0)|))
 (9 9 (:REWRITE |(* (- x) y)|))
 (8 8 (:TYPE-PRESCRIPTION EXISTS-UAV-WITH-EVENT))
 (8 8 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-<-0-RATIONAL-REMAINDER))
 (8 8 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-<-0-RATIONAL-COMMON))
 (8 8 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (8 8 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (8 4 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (8 2 (:REWRITE |(- (* c x))|))
 (5 5 (:TYPE-PRESCRIPTION BUBBLE-DOWN))
 (4 4 (:TYPE-PRESCRIPTION EVENT-FOR-UAV))
 (4 4 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (4 4 (:REWRITE UAV-ID-P-CONSTANT))
 (4 4 (:REWRITE UAV-ID-FIX-CONSTANT))
 (4 4 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (4 4 (:REWRITE SIMPLIFY-TERMS-SUCH-AS-AX+BX-=-0))
 (4 4 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (4 4 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (4 4 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (4 4 (:REWRITE DEFAULT-CDR))
 (4 4 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (4 4 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (3 3 (:REWRITE OPEN-STEP-TIME-INDUCTION))
 (3 1 (:REWRITE BODY-IMPLIES-WF-ESCORT-P))
 (2 2 (:REWRITE |(* 1 x)|))
 (2 1 (:LINEAR POSP-N))
 (1 1 (:TYPE-PRESCRIPTION NATP))
 (1 1 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (1 1 (:REWRITE REDUCE-INTEGERP-+))
 (1 1 (:REWRITE |(< (* x y) 0) rationalp (* x y)|))
 (1 1 (:META META-INTEGERP-CORRECT))
 )
(EVENT-FOR-UAV-TIME-TO-EVENT-TEE
 (504 3 (:DEFINITION TIME-TO-EVENT))
 (222 3 (:REWRITE HOW-LONG??))
 (159 3 (:DEFINITION NEXT-STEP))
 (117 3 (:REWRITE UPDATE-LOCATION-ALL-ZERO-EQUAL))
 (108 108 (:TYPE-PRESCRIPTION ACL2-NUMBERP-UAV->DIRECTION))
 (105 21 (:TYPE-PRESCRIPTION NNRAT-FIX))
 (102 102 (:TYPE-PRESCRIPTION ALWAYS-SMALLEST-MIN-TIME-TO-IMPENDING-IMPACT))
 (60 6 (:REWRITE POSITIVE-TO-ONE))
 (60 6 (:REWRITE NEGATIVE-DIRECTION-TO-NOT-ONE))
 (48 18 (:REWRITE DEFUNG::BOOLEAN-EQUAL-REDUCTION))
 (48 3 (:REWRITE EVENT-FOR-UAV-RIGHT))
 (48 3 (:REWRITE EVENT-FOR-UAV-N))
 (48 3 (:REWRITE EVENT-FOR-UAV-LEFT))
 (48 3 (:REWRITE EVENT-FOR-UAV-0))
 (42 6 (:DEFINITION MIN))
 (39 3 (:REWRITE UAV-ID-FIX-FAST-TO-UAV-ID-FIX))
 (30 15 (:REWRITE EQUAL-N-1-REDUCTIONS))
 (27 3 (:REWRITE DEGENERATE-EVENT-SCENARIO))
 (26 3 (:REWRITE BODY-IMPLIES-WF-ENSEMBLE))
 (18 3 (:REWRITE WEAK-UAV-ID-FIX-UAV-ID-P))
 (17 1 (:DEFINITION UAV-LIST-P))
 (15 6 (:REWRITE NOT-EXISTS-UAV-WITH-EVENT-FLIP-ON-EVENTS-EQUAL))
 (12 12 (:REWRITE NORMALIZE-DIRECTION-DIRECTION))
 (12 6 (:REWRITE NNRAT-FIX-FAST-TO-NNRAT-FIX))
 (12 4 (:REWRITE WF-ENSEMBLE-IMPLIES-BODY))
 (12 2 (:LINEAR LIST::LEN-NON-NEGATIVE-LINEAR))
 (9 9 (:TYPE-PRESCRIPTION UAV-LIST-P))
 (9 9 (:TYPE-PRESCRIPTION UAV-ID-P))
 (9 9 (:TYPE-PRESCRIPTION NOT-UAV-ID-P-FROM-NOT-ACL2-NUMBERP))
 (9 9 (:REWRITE VAL-OF-CONS))
 (9 9 (:REWRITE UAV-LIST-FIX-WHEN-UAV-LIST-P))
 (9 9 (:REWRITE STENGTHEN-INTEGER-LINEAR-UPPER))
 (9 9 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER-N))
 (9 9 (:REWRITE STENGTHEN-INTEGER-LINEAR-LOWER))
 (9 9 (:REWRITE OPEN-UAV-LIST-FIX))
 (9 3 (:REWRITE UAV-LIST-FIX!-TO-UAV-LIST-FIX))
 (9 3 (:REWRITE UAV-ID-FIX-NOT-UAV-ID-P))
 (6 6 (:TYPE-PRESCRIPTION EXISTS-UAV-WITH-EVENT))
 (6 6 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-1))
 (6 6 (:REWRITE NEGATE-DIRECTION-EQUALITY-REWRITE-0))
 (4 2 (:REWRITE LIST::LEN-WHEN-AT-MOST-1))
 (3 3 (:REWRITE UAV-ID-P-CONSTANT))
 (3 3 (:REWRITE UAV-ID-FIX-CONSTANT))
 (3 3 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-IMPLICATION))
 (3 3 (:REWRITE MINUS-TO-TIMES))
 (3 3 (:REWRITE EXISTS-UAV-WITH-EVENT-SUFF))
 (3 3 (:REWRITE EQUAL-N-TO-BOUNDED-INEQUALITY-1))
 (3 3 (:REWRITE DEFAULT-CDR))
 (2 2 (:REWRITE UAV-LIST-P-WHEN-NOT-CONSP))
 (2 2 (:REWRITE LIST::LEN-OF-NON-CONSP))
 (2 2 (:LINEAR LIST::LEN-WHEN-CONSP-LINEAR))
 (2 2 (:LINEAR SYN::LEN-IMPLIES-ACL2-LEN))
 (2 1 (:REWRITE UAV-P-OF-CAR-WHEN-UAV-LIST-P))
 (2 1 (:REWRITE UAV-LIST-P-OF-CDR-WHEN-UAV-LIST-P))
 (2 1 (:LINEAR POSP-N))
 (1 1 (:TYPE-PRESCRIPTION UAV-P))
 (1 1 (:REWRITE STEP-TIME-ALWAYS-TERMINATES-NECC))
 (1 1 (:REWRITE OPEN-STEP-TIME-INDUCTION))
 (1 1 (:REWRITE ESCORT-CONDITION-NECC))
 (1 1 (:REWRITE DEFAULT-CAR))
 )
