problem

SHOP2 一个人工智能里面关于任务分解和任务规划的系统。JSHOP2是其java版本。

    (AT_SOIL_SAMPLE WAYPOINT20)
    (AT_ROCK_SAMPLE WAYPOINT20)
    (AT_ROCK_SAMPLE WAYPOINT21)
    (AT_ROCK_SAMPLE WAYPOINT22)
    (AT_SOIL_SAMPLE WAYPOINT23)
    (AT_SOIL_SAMPLE WAYPOINT26)
    (AT_ROCK_SAMPLE WAYPOINT27)
    (AT_LANDER GENERAL WAYPOINT17)
    (CHANNEL_FREE GENERAL)
    (AT ROVER0 WAYPOINT2)
    (AVAILABLE ROVER0)
    (STORE_OF ROVER0STORE ROVER0)
    (EMPTY ROVER0STORE)
    (EQUIPPED_FOR_ROCK_ANALYSIS ROVER0)
    (CAN_TRAVERSE ROVER0 WAYPOINT2 WAYPOINT4)
    (CAN_TRAVERSE ROVER0 WAYPOINT4 WAYPOINT2)
    (CAN_TRAVERSE ROVER0 WAYPOINT2 WAYPOINT5)
    (CAN_TRAVERSE ROVER0 WAYPOINT5 WAYPOINT2)
    (CAN_TRAVERSE ROVER0 WAYPOINT2 WAYPOINT6)
    (CAN_TRAVERSE ROVER0 WAYPOINT6 WAYPOINT2)
    (CAN_TRAVERSE ROVER0 WAYPOINT2 WAYPOINT11)
    (CAN_TRAVERSE ROVER0 WAYPOINT11 WAYPOINT2)
    (CAN_TRAVERSE ROVER0 WAYPOINT2 WAYPOINT19)
    (CAN_TRAVERSE ROVER0 WAYPOINT19 WAYPOINT2)
    (CAN_TRAVERSE ROVER0 WAYPOINT2 WAYPOINT22)
    (CAN_TRAVERSE ROVER0 WAYPOINT22 WAYPOINT2)
    (CAN_TRAVERSE ROVER0 WAYPOINT2 WAYPOINT24)
    (CAN_TRAVERSE ROVER0 WAYPOINT24 WAYPOINT2)
    (CAN_TRAVERSE ROVER0 WAYPOINT2 WAYPOINT27)
    (CAN_TRAVERSE ROVER0 WAYPOINT27 WAYPOINT2)
    (CAN_TRAVERSE ROVER0 WAYPOINT4 WAYPOINT8)
    (CAN_TRAVERSE ROVER0 WAYPOINT8 WAYPOINT4)
    (CAN_TRAVERSE ROVER0 WAYPOINT4 WAYPOINT9)
    (CAN_TRAVERSE ROVER0 WAYPOINT9 WAYPOINT4)
    (CAN_TRAVERSE ROVER0 WAYPOINT4 WAYPOINT13)
    (CAN_TRAVERSE ROVER0 WAYPOINT13 WAYPOINT4)
    (CAN_TRAVERSE ROVER0 WAYPOINT4 WAYPOINT17)
    (CAN_TRAVERSE ROVER0 WAYPOINT17 WAYPOINT4)
    (CAN_TRAVERSE ROVER0 WAYPOINT4 WAYPOINT21)
    (CAN_TRAVERSE ROVER0 WAYPOINT21 WAYPOINT4)
    (CAN_TRAVERSE ROVER0 WAYPOINT5 WAYPOINT7)
    (CAN_TRAVERSE ROVER0 WAYPOINT7 WAYPOINT5)
    (CAN_TRAVERSE ROVER0 WAYPOINT5 WAYPOINT28)
    (CAN_TRAVERSE ROVER0 WAYPOINT28 WAYPOINT5)
    (CAN_TRAVERSE ROVER0 WAYPOINT6 WAYPOINT14)
    (CAN_TRAVERSE ROVER0 WAYPOINT14 WAYPOINT6)
    (CAN_TRAVERSE ROVER0 WAYPOINT6 WAYPOINT25)
    (CAN_TRAVERSE ROVER0 WAYPOINT25 WAYPOINT6)
    (CAN_TRAVERSE ROVER0 WAYPOINT11 WAYPOINT10)
    (CAN_TRAVERSE ROVER0 WAYPOINT10 WAYPOINT11)
    (CAN_TRAVERSE ROVER0 WAYPOINT11 WAYPOINT16)
    (CAN_TRAVERSE ROVER0 WAYPOINT16 WAYPOINT11)
    (CAN_TRAVERSE ROVER0 WAYPOINT19 WAYPOINT0)
    (CAN_TRAVERSE ROVER0 WAYPOINT0 WAYPOINT19)
    (CAN_TRAVERSE ROVER0 WAYPOINT19 WAYPOINT12)
    (CAN_TRAVERSE ROVER0 WAYPOINT12 WAYPOINT19)
    (CAN_TRAVERSE ROVER0 WAYPOINT19 WAYPOINT18)
    (CAN_TRAVERSE ROVER0 WAYPOINT18 WAYPOINT19)
    (CAN_TRAVERSE ROVER0 WAYPOINT22 WAYPOINT26)
    (CAN_TRAVERSE ROVER0 WAYPOINT26 WAYPOINT22)
    (CAN_TRAVERSE ROVER0 WAYPOINT24 WAYPOINT1)
    (CAN_TRAVERSE ROVER0 WAYPOINT1 WAYPOINT24)
    (CAN_TRAVERSE ROVER0 WAYPOINT9 WAYPOINT20)
    (CAN_TRAVERSE ROVER0 WAYPOINT20 WAYPOINT9)
    (CAN_TRAVERSE ROVER0 WAYPOINT13 WAYPOINT15)
    (CAN_TRAVERSE ROVER0 WAYPOINT15 WAYPOINT13)
    (CAN_TRAVERSE ROVER0 WAYPOINT7 WAYPOINT3)
    (CAN_TRAVERSE ROVER0 WAYPOINT3 WAYPOINT7)
    (CAN_TRAVERSE ROVER0 WAYPOINT7 WAYPOINT23)
    (CAN_TRAVERSE ROVER0 WAYPOINT23 WAYPOINT7)
    (AT ROVER1 WAYPOINT5)
    (AVAILABLE ROVER1)
    (STORE_OF ROVER1STORE ROVER1)
    (EMPTY ROVER1STORE)
    (EQUIPPED_FOR_ROCK_ANALYSIS ROVER1)
    (EQUIPPED_FOR_IMAGING ROVER1)
    (CAN_TRAVERSE ROVER1 WAYPOINT5 WAYPOINT1)
    (CAN_TRAVERSE ROVER1 WAYPOINT1 WAYPOINT5)
    (CAN_TRAVERSE ROVER1 WAYPOINT5 WAYPOINT2)
    (CAN_TRAVERSE ROVER1 WAYPOINT2 WAYPOINT5)
    (CAN_TRAVERSE ROVER1 WAYPOINT5 WAYPOINT8)
    (CAN_TRAVERSE ROVER1 WAYPOINT8 WAYPOINT5)
    (CAN_TRAVERSE ROVER1 WAYPOINT5 WAYPOINT21)
    (CAN_TRAVERSE ROVER1 WAYPOINT21 WAYPOINT5)
    (CAN_TRAVERSE ROVER1 WAYPOINT5 WAYPOINT24)
    (CAN_TRAVERSE ROVER1 WAYPOINT24 WAYPOINT5)
    (CAN_TRAVERSE ROVER1 WAYPOINT5 WAYPOINT27)
    (CAN_TRAVERSE ROVER1 WAYPOINT27 WAYPOINT5)
    (CAN_TRAVERSE ROVER1 WAYPOINT1 WAYPOINT0)
    (CAN_TRAVERSE ROVER1 WAYPOINT0 WAYPOINT1)
    (CAN_TRAVERSE ROVER1 WAYPOINT1 WAYPOINT6)
    (CAN_TRAVERSE ROVER1 WAYPOINT6 WAYPOINT1)
    (CAN_TRAVERSE ROVER1 WAYPOINT1 WAYPOINT9)
    (CAN_TRAVERSE ROVER1 WAYPOINT9 WAYPOINT1)
    (CAN_TRAVERSE ROVER1 WAYPOINT1 WAYPOINT10)
    (CAN_TRAVERSE ROVER1 WAYPOINT10 WAYPOINT1)
    (CAN_TRAVERSE ROVER1 WAYPOINT1 WAYPOINT16)
    (CAN_TRAVERSE ROVER1 WAYPOINT16 WAYPOINT1)
    (CAN_TRAVERSE ROVER1 WAYPOINT1 WAYPOINT17)
    (CAN_TRAVERSE ROVER1 WAYPOINT17 WAYPOINT1)
    (CAN_TRAVERSE ROVER1 WAYPOINT1 WAYPOINT26)
    (CAN_TRAVERSE ROVER1 WAYPOINT26 WAYPOINT1)
    (CAN_TRAVERSE ROVER1 WAYPOINT2 WAYPOINT4)
    (CAN_TRAVERSE ROVER1 WAYPOINT4 WAYPOINT2)
    (CAN_TRAVERSE ROVER1 WAYPOINT2 WAYPOINT11)
    (CAN_TRAVERSE ROVER1 WAYPOINT11 WAYPOINT2)
    (CAN_TRAVERSE ROVER1 WAYPOINT2 WAYPOINT18)
    (CAN_TRAVERSE ROVER1 WAYPOINT18 WAYPOINT2)
    (CAN_TRAVERSE ROVER1 WAYPOINT2 WAYPOINT19)
    (CAN_TRAVERSE ROVER1 WAYPOINT19 WAYPOINT2)
    (CAN_TRAVERSE ROVER1 WAYPOINT2 WAYPOINT22)
    (CAN_TRAVERSE ROVER1 WAYPOINT22 WAYPOINT2)
    (CAN_TRAVERSE ROVER1 WAYPOINT8 WAYPOINT28)
    (CAN_TRAVERSE ROVER1 WAYPOINT28 WAYPOINT8)
    (CAN_TRAVERSE ROVER1 WAYPOINT21 WAYPOINT12)
    (CAN_TRAVERSE ROVER1 WAYPOINT12 WAYPOINT21)
    (CAN_TRAVERSE ROVER1 WAYPOINT21 WAYPOINT13)
    (CAN_TRAVERSE ROVER1 WAYPOINT13 WAYPOINT21)
    (CAN_TRAVERSE ROVER1 WAYPOINT21 WAYPOINT14)
    (CAN_TRAVERSE ROVER1 WAYPOINT14 WAYPOINT21)
    (CAN_TRAVERSE ROVER1 WAYPOINT21 WAYPOINT15)
    (CAN_TRAVERSE ROVER1 WAYPOINT15 WAYPOINT21)
    (CAN_TRAVERSE ROVER1 WAYPOINT27 WAYPOINT25)
    (CAN_TRAVERSE ROVER1 WAYPOINT25 WAYPOINT27)
    (CAN_TRAVERSE ROVER1 WAYPOINT0 WAYPOINT20)
    (CAN_TRAVERSE ROVER1 WAYPOINT20 WAYPOINT0)
    (CAN_TRAVERSE ROVER1 WAYPOINT0 WAYPOINT29)
    (CAN_TRAVERSE ROVER1 WAYPOINT29 WAYPOINT0)
    (CAN_TRAVERSE ROVER1 WAYPOINT10 WAYPOINT7)
    (CAN_TRAVERSE ROVER1 WAYPOINT7 WAYPOINT10)
    (CAN_TRAVERSE ROVER1 WAYPOINT10 WAYPOINT23)
    (CAN_TRAVERSE ROVER1 WAYPOINT23 WAYPOINT10)
    (CAN_TRAVERSE ROVER1 WAYPOINT26 WAYPOINT3)
    (CAN_TRAVERSE ROVER1 WAYPOINT3 WAYPOINT26)
    (AT ROVER2 WAYPOINT18)
    (AVAILABLE ROVER2)
    (STORE_OF ROVER2STORE ROVER2)
    (EMPTY ROVER2STORE)
    (EQUIPPED_FOR_ROCK_ANALYSIS ROVER2)
    (EQUIPPED_FOR_IMAGING ROVER2)
    (CAN_TRAVERSE ROVER2 WAYPOINT18 WAYPOINT0)
    (CAN_TRAVERSE ROVER2 WAYPOINT0 WAYPOINT18)
    (CAN_TRAVERSE ROVER2 WAYPOINT18 WAYPOINT6)
    (CAN_TRAVERSE ROVER2 WAYPOINT6 WAYPOINT18)
    (CAN_TRAVERSE ROVER2 WAYPOINT18 WAYPOINT10)
    (CAN_TRAVERSE ROVER2 WAYPOINT10 WAYPOINT18)
    (CAN_TRAVERSE ROVER2 WAYPOINT18 WAYPOINT16)
    (CAN_TRAVERSE ROVER2 WAYPOINT16 WAYPOINT18)
    (CAN_TRAVERSE ROVER2 WAYPOINT18 WAYPOINT17)
    (CAN_TRAVERSE ROVER2 WAYPOINT17 WAYPOINT18)
    (CAN_TRAVERSE ROVER2 WAYPOINT18 WAYPOINT21)
    (CAN_TRAVERSE ROVER2 WAYPOINT21 WAYPOINT18)
    (CAN_TRAVERSE ROVER2 WAYPOINT18 WAYPOINT23)
    (CAN_TRAVERSE ROVER2 WAYPOINT23 WAYPOINT18)
    (CAN_TRAVERSE ROVER2 WAYPOINT18 WAYPOINT24)
    (CAN_TRAVERSE ROVER2 WAYPOINT24 WAYPOINT18)
    (CAN_TRAVERSE ROVER2 WAYPOINT18 WAYPOINT28)
    (CAN_TRAVERSE ROVER2 WAYPOINT28 WAYPOINT18)
    (CAN_TRAVERSE ROVER2 WAYPOINT0 WAYPOINT1)
    (CAN_TRAVERSE ROVER2 WAYPOINT1 WAYPOINT0)
    (CAN_TRAVERSE ROVER2 WAYPOINT0 WAYPOINT8)
    (CAN_TRAVERSE ROVER2 WAYPOINT8 WAYPOINT0)
    (CAN_TRAVERSE ROVER2 WAYPOINT0 WAYPOINT15)
    (CAN_TRAVERSE ROVER2 WAYPOINT15 WAYPOINT0)
    (CAN_TRAVERSE ROVER2 WAYPOINT0 WAYPOINT19)
    (CAN_TRAVERSE ROVER2 WAYPOINT19 WAYPOINT0)
    (CAN_TRAVERSE ROVER2 WAYPOINT0 WAYPOINT22)
    (CAN_TRAVERSE ROVER2 WAYPOINT22 WAYPOINT0)
    (CAN_TRAVERSE ROVER2 WAYPOINT0 WAYPOINT25)
    (CAN_TRAVERSE ROVER2 WAYPOINT25 WAYPOINT0)
    (CAN_TRAVERSE ROVER2 WAYPOINT6 WAYPOINT2)
    (CAN_TRAVERSE ROVER2 WAYPOINT2 WAYPOINT6)
    (CAN_TRAVERSE ROVER2 WAYPOINT6 WAYPOINT4)
    (CAN_TRAVERSE ROVER2 WAYPOINT4 WAYPOINT6)
    (CAN_TRAVERSE ROVER2 WAYPOINT6 WAYPOINT11)
    (CAN_TRAVERSE ROVER2 WAYPOINT11 WAYPOINT6)
    (CAN_TRAVERSE ROVER2 WAYPOINT6 WAYPOINT27)
    (CAN_TRAVERSE ROVER2 WAYPOINT27 WAYPOINT6)
    (CAN_TRAVERSE ROVER2 WAYPOINT10 WAYPOINT9)
    (CAN_TRAVERSE ROVER2 WAYPOINT9 WAYPOINT10)
    (CAN_TRAVERSE ROVER2 WAYPOINT10 WAYPOINT13)
    (CAN_TRAVERSE ROVER2 WAYPOINT13 WAYPOINT10)
    (CAN_TRAVERSE ROVER2 WAYPOINT16 WAYPOINT12)
    (CAN_TRAVERSE ROVER2 WAYPOINT12 WAYPOINT16)
    (CAN_TRAVERSE ROVER2 WAYPOINT16 WAYPOINT14)
    (CAN_TRAVERSE ROVER2 WAYPOINT14 WAYPOINT16)
    (CAN_TRAVERSE ROVER2 WAYPOINT16 WAYPOINT26)
    (CAN_TRAVERSE ROVER2 WAYPOINT26 WAYPOINT16)
    (CAN_TRAVERSE ROVER2 WAYPOINT17 WAYPOINT20)
    (CAN_TRAVERSE ROVER2 WAYPOINT20 WAYPOINT17)
    (CAN_TRAVERSE ROVER2 WAYPOINT21 WAYPOINT5)
    (CAN_TRAVERSE ROVER2 WAYPOINT5 WAYPOINT21)
    (CAN_TRAVERSE ROVER2 WAYPOINT23 WAYPOINT7)
    (CAN_TRAVERSE ROVER2 WAYPOINT7 WAYPOINT23)
    (CAN_TRAVERSE ROVER2 WAYPOINT28 WAYPOINT3)
    (CAN_TRAVERSE ROVER2 WAYPOINT3 WAYPOINT28)
    (AT ROVER3 WAYPOINT27)
    (AVAILABLE ROVER3)
    (STORE_OF ROVER3STORE ROVER3)
    (EMPTY ROVER3STORE)
    (EQUIPPED_FOR_ROCK_ANALYSIS ROVER3)
    (EQUIPPED_FOR_IMAGING ROVER3)
    (CAN_TRAVERSE ROVER3 WAYPOINT27 WAYPOINT1)
    (CAN_TRAVERSE ROVER3 WAYPOINT1 WAYPOINT27)
    (CAN_TRAVERSE ROVER3 WAYPOINT27 WAYPOINT6)
    (CAN_TRAVERSE ROVER3 WAYPOINT6 WAYPOINT27)
    (CAN_TRAVERSE ROVER3 WAYPOINT27 WAYPOINT9)
    (CAN_TRAVERSE ROVER3 WAYPOINT9 WAYPOINT27)
    (CAN_TRAVERSE ROVER3 WAYPOINT27 WAYPOINT10)
    (CAN_TRAVERSE ROVER3 WAYPOINT10 WAYPOINT27)
    (CAN_TRAVERSE ROVER3 WAYPOINT27 WAYPOINT25)
    (CAN_TRAVERSE ROVER3 WAYPOINT25 WAYPOINT27)
    (CAN_TRAVERSE ROVER3 WAYPOINT1 WAYPOINT0)
    (CAN_TRAVERSE ROVER3 WAYPOINT0 WAYPOINT1)
    (CAN_TRAVERSE ROVER3 WAYPOINT1 WAYPOINT5)
    (CAN_TRAVERSE ROVER3 WAYPOINT5 WAYPOINT1)
    (CAN_TRAVERSE ROVER3 WAYPOINT1 WAYPOINT16)
    (CAN_TRAVERSE ROVER3 WAYPOINT16 WAYPOINT1)
    (CAN_TRAVERSE ROVER3 WAYPOINT1 WAYPOINT17)
    (CAN_TRAVERSE ROVER3 WAYPOINT17 WAYPOINT1)
    (CAN_TRAVERSE ROVER3 WAYPOINT1 WAYPOINT24)
    (CAN_TRAVERSE ROVER3 WAYPOINT24 WAYPOINT1)
    (CAN_TRAVERSE ROVER3 WAYPOINT1 WAYPOINT26)
    (CAN_TRAVERSE ROVER3 WAYPOINT26 WAYPOINT1)
    (CAN_TRAVERSE ROVER3 WAYPOINT6 WAYPOINT2)
    (CAN_TRAVERSE ROVER3 WAYPOINT2 WAYPOINT6)
    (CAN_TRAVERSE ROVER3 WAYPOINT6 WAYPOINT14)
    (CAN_TRAVERSE ROVER3 WAYPOINT14 WAYPOINT6)
    (CAN_TRAVERSE ROVER3 WAYPOINT6 WAYPOINT15)
    (CAN_TRAVERSE ROVER3 WAYPOINT15 WAYPOINT6)
    (CAN_TRAVERSE ROVER3 WAYPOINT9 WAYPOINT4)
    (CAN_TRAVERSE ROVER3 WAYPOINT4 WAYPOINT9)
    (CAN_TRAVERSE ROVER3 WAYPOINT9 WAYPOINT19)
    (CAN_TRAVERSE ROVER3 WAYPOINT19 WAYPOINT9)
    (CAN_TRAVERSE ROVER3 WAYPOINT9 WAYPOINT20)
    (CAN_TRAVERSE ROVER3 WAYPOINT20 WAYPOINT9)
    (CAN_TRAVERSE ROVER3 WAYPOINT9 WAYPOINT28)
    (CAN_TRAVERSE ROVER3 WAYPOINT28 WAYPOINT9)
    (CAN_TRAVERSE ROVER3 WAYPOINT10 WAYPOINT7)
    (CAN_TRAVERSE ROVER3 WAYPOINT7 WAYPOINT10)
    (CAN_TRAVERSE ROVER3 WAYPOINT10 WAYPOINT11)
    (CAN_TRAVERSE ROVER3 WAYPOINT11 WAYPOINT10)
    (CAN_TRAVERSE ROVER3 WAYPOINT10 WAYPOINT18)
    (CAN_TRAVERSE ROVER3 WAYPOINT18 WAYPOINT10)
    (CAN_TRAVERSE ROVER3 WAYPOINT10 WAYPOINT23)
    (CAN_TRAVERSE ROVER3 WAYPOINT23 WAYPOINT10)
    (CAN_TRAVERSE ROVER3 WAYPOINT0 WAYPOINT8)
    (CAN_TRAVERSE ROVER3 WAYPOINT8 WAYPOINT0)
    (CAN_TRAVERSE ROVER3 WAYPOINT0 WAYPOINT21)
    (CAN_TRAVERSE ROVER3 WAYPOINT21 WAYPOINT0)
    (CAN_TRAVERSE ROVER3 WAYPOINT0 WAYPOINT22)
    (CAN_TRAVERSE ROVER3 WAYPOINT22 WAYPOINT0)
    (CAN_TRAVERSE ROVER3 WAYPOINT0 WAYPOINT29)
    (CAN_TRAVERSE ROVER3 WAYPOINT29 WAYPOINT0)
    (CAN_TRAVERSE ROVER3 WAYPOINT16 WAYPOINT12)
    (CAN_TRAVERSE ROVER3 WAYPOINT12 WAYPOINT16)
    (CAN_TRAVERSE ROVER3 WAYPOINT26 WAYPOINT3)
    (CAN_TRAVERSE ROVER3 WAYPOINT3 WAYPOINT26)
    (CAN_TRAVERSE ROVER3 WAYPOINT4 WAYPOINT13)
    (CAN_TRAVERSE ROVER3 WAYPOINT13 WAYPOINT4)
    (AT ROVER4 WAYPOINT7)
    (AVAILABLE ROVER4)
    (STORE_OF ROVER4STORE ROVER4)
    (EMPTY ROVER4STORE)
    (EQUIPPED_FOR_ROCK_ANALYSIS ROVER4)
    (EQUIPPED_FOR_IMAGING ROVER4)
    (CAN_TRAVERSE ROVER4 WAYPOINT7 WAYPOINT3)
    (CAN_TRAVERSE ROVER4 WAYPOINT3 WAYPOINT7)
    (CAN_TRAVERSE ROVER4 WAYPOINT7 WAYPOINT5)
    (CAN_TRAVERSE ROVER4 WAYPOINT5 WAYPOINT7)
    (CAN_TRAVERSE ROVER4 WAYPOINT7 WAYPOINT10)
    (CAN_TRAVERSE ROVER4 WAYPOINT10 WAYPOINT7)
    (CAN_TRAVERSE ROVER4 WAYPOINT7 WAYPOINT12)
    (CAN_TRAVERSE ROVER4 WAYPOINT12 WAYPOINT7)
    (CAN_TRAVERSE ROVER4 WAYPOINT7 WAYPOINT13)
    (CAN_TRAVERSE ROVER4 WAYPOINT13 WAYPOINT7)
    (CAN_TRAVERSE ROVER4 WAYPOINT7 WAYPOINT23)
    (CAN_TRAVERSE ROVER4 WAYPOINT23 WAYPOINT7)
    (CAN_TRAVERSE ROVER4 WAYPOINT3 WAYPOINT26)
    (CAN_TRAVERSE ROVER4 WAYPOINT26 WAYPOINT3)
    (CAN_TRAVERSE ROVER4 WAYPOINT5 WAYPOINT2)
    (CAN_TRAVERSE ROVER4 WAYPOINT2 WAYPOINT5)
    (CAN_TRAVERSE ROVER4 WAYPOINT5 WAYPOINT21)
    (CAN_TRAVERSE ROVER4 WAYPOINT21 WAYPOINT5)
    (CAN_TRAVERSE ROVER4 WAYPOINT5 WAYPOINT27)
    (CAN_TRAVERSE ROVER4 WAYPOINT27 WAYPOINT5)
    (CAN_TRAVERSE ROVER4 WAYPOINT5 WAYPOINT28)
    (CAN_TRAVERSE ROVER4 WAYPOINT28 WAYPOINT5)
    (CAN_TRAVERSE ROVER4 WAYPOINT10 WAYPOINT18)
    (CAN_TRAVERSE ROVER4 WAYPOINT18 WAYPOINT10)
    (CAN_TRAVERSE ROVER4 WAYPOINT12 WAYPOINT16)
    (CAN_TRAVERSE ROVER4 WAYPOINT16 WAYPOINT12)
    (CAN_TRAVERSE ROVER4 WAYPOINT13 WAYPOINT4)
    (CAN_TRAVERSE ROVER4 WAYPOINT4 WAYPOINT13)
    (CAN_TRAVERSE ROVER4 WAYPOINT13 WAYPOINT15)
    (CAN_TRAVERSE ROVER4 WAYPOINT15 WAYPOINT13)
    (CAN_TRAVERSE ROVER4 WAYPOINT23 WAYPOINT17)
    (CAN_TRAVERSE ROVER4 WAYPOINT17 WAYPOINT23)
    (CAN_TRAVERSE ROVER4 WAYPOINT23 WAYPOINT20)
    (CAN_TRAVERSE ROVER4 WAYPOINT20 WAYPOINT23)
    (CAN_TRAVERSE ROVER4 WAYPOINT26 WAYPOINT1)
    (CAN_TRAVERSE ROVER4 WAYPOINT1 WAYPOINT26)
    (CAN_TRAVERSE ROVER4 WAYPOINT26 WAYPOINT14)
    (CAN_TRAVERSE ROVER4 WAYPOINT14 WAYPOINT26)
    (CAN_TRAVERSE ROVER4 WAYPOINT26 WAYPOINT22)
    (CAN_TRAVERSE ROVER4 WAYPOINT22 WAYPOINT26)
    (CAN_TRAVERSE ROVER4 WAYPOINT2 WAYPOINT6)
    (CAN_TRAVERSE ROVER4 WAYPOINT6 WAYPOINT2)
    (CAN_TRAVERSE ROVER4 WAYPOINT2 WAYPOINT11)
    (CAN_TRAVERSE ROVER4 WAYPOINT11 WAYPOINT2)
    (CAN_TRAVERSE ROVER4 WAYPOINT2 WAYPOINT19)
    (CAN_TRAVERSE ROVER4 WAYPOINT19 WAYPOINT2)
    (CAN_TRAVERSE ROVER4 WAYPOINT2 WAYPOINT24)
    (CAN_TRAVERSE ROVER4 WAYPOINT24 WAYPOINT2)
    (CAN_TRAVERSE ROVER4 WAYPOINT21 WAYPOINT0)
    (CAN_TRAVERSE ROVER4 WAYPOINT0 WAYPOINT21)
    (CAN_TRAVERSE ROVER4 WAYPOINT27 WAYPOINT25)
    (CAN_TRAVERSE ROVER4 WAYPOINT25 WAYPOINT27)
    (CAN_TRAVERSE ROVER4 WAYPOINT28 WAYPOINT8)
    (CAN_TRAVERSE ROVER4 WAYPOINT8 WAYPOINT28)
    (CAN_TRAVERSE ROVER4 WAYPOINT28 WAYPOINT9)
    (CAN_TRAVERSE ROVER4 WAYPOINT9 WAYPOINT28)
    (CAN_TRAVERSE ROVER4 WAYPOINT20 WAYPOINT29)
    (CAN_TRAVERSE ROVER4 WAYPOINT29 WAYPOINT20)
    (AT ROVER5 WAYPOINT7)
    (AVAILABLE ROVER5)
    (STORE_OF ROVER5STORE ROVER5)
    (EMPTY ROVER5STORE)
    (EQUIPPED_FOR_SOIL_ANALYSIS ROVER5)
    (EQUIPPED_FOR_IMAGING ROVER5)
    (CAN_TRAVERSE ROVER5 WAYPOINT7 WAYPOINT3)
    (CAN_TRAVERSE ROVER5 WAYPOINT3 WAYPOINT7)
    (CAN_TRAVERSE ROVER5 WAYPOINT7 WAYPOINT10)
    (CAN_TRAVERSE ROVER5 WAYPOINT10 WAYPOINT7)
    (CAN_TRAVERSE ROVER5 WAYPOINT7 WAYPOINT12)
    (CAN_TRAVERSE ROVER5 WAYPOINT12 WAYPOINT7)
    (CAN_TRAVERSE ROVER5 WAYPOINT7 WAYPOINT23)
    (CAN_TRAVERSE ROVER5 WAYPOINT23 WAYPOINT7)
    (CAN_TRAVERSE ROVER5 WAYPOINT3 WAYPOINT13)
    (CAN_TRAVERSE ROVER5 WAYPOINT13 WAYPOINT3)
    (CAN_TRAVERSE ROVER5 WAYPOINT3 WAYPOINT26)
    (CAN_TRAVERSE ROVER5 WAYPOINT26 WAYPOINT3)
    (CAN_TRAVERSE ROVER5 WAYPOINT3 WAYPOINT28)
    (CAN_TRAVERSE ROVER5 WAYPOINT28 WAYPOINT3)
    (CAN_TRAVERSE ROVER5 WAYPOINT10 WAYPOINT9)
    (CAN_TRAVERSE ROVER5 WAYPOINT9 WAYPOINT10)
    (CAN_TRAVERSE ROVER5 WAYPOINT10 WAYPOINT11)
    (CAN_TRAVERSE ROVER5 WAYPOINT11 WAYPOINT10)
    (CAN_TRAVERSE ROVER5 WAYPOINT10 WAYPOINT16)
    (CAN_TRAVERSE ROVER5 WAYPOINT16 WAYPOINT10)
    (CAN_TRAVERSE ROVER5 WAYPOINT10 WAYPOINT18)
    (CAN_TRAVERSE ROVER5 WAYPOINT18 WAYPOINT10)
    (CAN_TRAVERSE ROVER5 WAYPOINT10 WAYPOINT27)