syms p h1 h2 t1 t2 a1 a2 c0 c d r1 r2 k
h1=1/2*t2+1/2*p-k*c-t1+1/2*c0+1/2*c+1/2*a1;
e1=-t1+1/2*p-c0-k*c-a2+1/2*c+1/2*t2;
h2=1/2*t1+1/4*p+1/2*c0+1/2*k*c+1/2*a2-3/4*c-3/4*t2;
e2=-3/4*t2+1/4*p-3/4*c0-3/4*c-3/4*a1+1/2*k*c+1/2*t1;
w0=1/2*(h2+e1)^2+(p-c-t2-(h2+e1))*h2+(p-c0-c-t2-a1-(h1+e2))*e2+(t2-r2*d)*(h2+e2)+a2*e1+1/2*(h1+e2)^2+(p-k*c-t1-(h1+e2))*h1+(p-c0-c*k-t1-a2-(h2+e1))*e1+(t1-r1*d)*(h1+e1)+a1*e2;
df0t1=diff(w0,'t1');
df0t2=diff(w0,'t2');
df0a2=diff(w0,'a2');
df0a1=diff(w0,'a1');
df0r1=diff(w0,'r1');
df0r2=diff(w0,'r2');
[t1,t2,a1,a2,r1,r2]=solve(df0t1,df0t2,df0a1,df0a2,df0r1,df0r2,t1,t2,a2,a1,r1,r2);
Warning: Explicit solution could not be found.