{
  "_comment": "Boolean abstraction of LPC lift-mode controller. Assumes -> Guarantees form.",
  "spec_name": "LPC_mini",
  "source_file": "specs/LPC_mini_reqts_and_vars.json",
  "inputs": [
    "r_a",
    "r_b",
    "r_c",
    "r_d",
    "r_e",
    "r_f"
  ],
  "outputs": [
    "m_tb",
    "m_stb",
    "m_swb",
    "m_wb"
  ],
  "assumptions": [
    "G((r_a | r_b | r_c | r_d | r_e | r_f) & (!r_a | !r_b) & (!r_a | !r_c) & (!r_a | !r_d) & (!r_a | !r_e) & (!r_a | !r_f) & (!r_b | !r_c) & (!r_b | !r_d) & (!r_b | !r_e) & (!r_b | !r_f) & (!r_c | !r_d) & (!r_c | !r_e) & (!r_c | !r_f) & (!r_d | !r_e) & (!r_d | !r_f) & (!r_e | !r_f))",
    "r_f",
    "G(r_a -> (X(r_a) | X(r_b)))",
    "G(r_b -> (X(r_a) | X(r_b) | X(r_c)))",
    "G(r_c -> (X(r_b) | X(r_c) | X(r_d)))",
    "G(r_d -> (X(r_c) | X(r_d) | X(r_e)))",
    "G(r_e -> (X(r_d) | X(r_e) | X(r_f)))",
    "G(r_f -> (X(r_e) | X(r_f)))"
  ],
  "guarantees": [
    "G((m_tb | m_stb | m_swb | m_wb) & (!m_tb | !m_stb) & (!m_tb | !m_swb) & (!m_tb | !m_wb) & (!m_stb | !m_swb) & (!m_stb | !m_wb) & (!m_swb | !m_wb))",
    "m_wb",
    "G((m_wb & (r_e | r_f)) -> X(m_wb))",
    "G((m_wb & (r_a | r_b | r_c | r_d)) -> X(m_swb))",
    "G((m_swb & (r_d | r_e)) -> X(m_swb))",
    "G((m_swb & r_f) -> X(m_wb))",
    "G((m_swb & (r_a | r_b)) -> X(m_stb))",
    "G((m_stb & (r_b | r_c)) -> X(m_stb))",
    "G((m_stb & (r_d | r_e | r_f)) -> X(m_swb))",
    "G((m_stb & r_a) -> X(m_tb))",
    "G((m_tb & r_a) -> X(m_tb))",
    "G((m_tb & !r_a) -> X(m_stb))"
  ],
  "conjoined_ltl": "((G((r_a | r_b | r_c | r_d | r_e | r_f) & (!r_a | !r_b) & (!r_a | !r_c) & (!r_a | !r_d) & (!r_a | !r_e) & (!r_a | !r_f) & (!r_b | !r_c) & (!r_b | !r_d) & (!r_b | !r_e) & (!r_b | !r_f) & (!r_c | !r_d) & (!r_c | !r_e) & (!r_c | !r_f) & (!r_d | !r_e) & (!r_d | !r_f) & (!r_e | !r_f))) & (r_f) & (G(r_a -> (X(r_a) | X(r_b)))) & (G(r_b -> (X(r_a) | X(r_b) | X(r_c)))) & (G(r_c -> (X(r_b) | X(r_c) | X(r_d)))) & (G(r_d -> (X(r_c) | X(r_d) | X(r_e)))) & (G(r_e -> (X(r_d) | X(r_e) | X(r_f)))) & (G(r_f -> (X(r_e) | X(r_f))))) -> ((G((m_tb | m_stb | m_swb | m_wb) & (!m_tb | !m_stb) & (!m_tb | !m_swb) & (!m_tb | !m_wb) & (!m_stb | !m_swb) & (!m_stb | !m_wb) & (!m_swb | !m_wb))) & (m_wb) & (G((m_wb & (r_e | r_f)) -> X(m_wb))) & (G((m_wb & (r_a | r_b | r_c | r_d)) -> X(m_swb))) & (G((m_swb & (r_d | r_e)) -> X(m_swb))) & (G((m_swb & r_f) -> X(m_wb))) & (G((m_swb & (r_a | r_b)) -> X(m_stb))) & (G((m_stb & (r_b | r_c)) -> X(m_stb))) & (G((m_stb & (r_d | r_e | r_f)) -> X(m_swb))) & (G((m_stb & r_a) -> X(m_tb))) & (G((m_tb & r_a) -> X(m_tb))) & (G((m_tb & !r_a) -> X(m_stb))))",
  "abstraction_notes": {
    "speed_regions": {
      "r_a": "speed <= 20 (hover zone)",
      "r_b": "20 < speed <= 30",
      "r_c": "30 < speed <= 40",
      "r_d": "40 < speed <= 90",
      "r_e": "90 < speed <= 100",
      "r_f": "speed > 100"
    },
    "modes": {
      "m_tb": "thrust_borne",
      "m_stb": "semi_thrust_borne",
      "m_swb": "semi_wing_borne",
      "m_wb": "wing_borne"
    },
    "skipped_requirements": [
      "LPC_REACH_HOVER_06 (bounded temporal F[0,6])",
      "LPC_REACH_HOVER_12 (bounded temporal F[0,12])",
      "LPC_KIAS_DERIVATIVE (absorbed into adjacency constraint)",
      "LPC_KIAS_KGS (absorbed - single speed variable)",
      "LPC_INIT_KIAS (absorbed into initial region)",
      "LPC_KIAS_0 (trivially satisfied)",
      "LPC_INIT_HOVER_MODE (absorbed - hover = region A)"
    ]
  }
}