(* Verifiable in MuPAD *)
Axiom
  Math_prop_alarm_1 :
    forall (a l : R) (T : TimeT),
    (MinDistance T <= l)%R ->
    (l <= MaxDistance T)%R ->
    (0 <= a)%R ->
    (a <= MinBeta)%R ->
    (Rsqr (l * cos a - v V * T) + Rsqr (l * sin a) <= Rsqr AlertRange)%R.(* Verifiable in MuPAD *)
Axiom
  Math_prop_no_conflict_1 :
    forall (a l x y : R) (T : TimeT),
    (MinDistance T <= l)%R ->
    (l <= MaxDistance T)%R ->
    (MinBeta <= a)%R ->
    (a <= PI / 2)%R ->
    (l * sin a + r_V * (cos (rho_V * T) - 1) <= y)%R ->
    (r_V * sin (rho_V * T) - l * cos a <= x)%R ->
    (Rsqr ConflictRange < Rsqr x + Rsqr y)%R.

Lemma Math_prop_approx_x_a_PI2 : forall (a l1 l2 : R) (T : TimeT), (0 <= a)%R -> (a <= PI / 2)%R -> (0 <= l1)%R -> (l1 <= l2)%R -> (r_lb V * sin_lb (rho_lb V * MinT) - l2 * cos_ub a <= r_V * sin (rho_V * T) - l1 * cos a)%R.