(define (problem multirobot_43_10%_c5)
 (:domain multirobot)
 (:objects
  v0 r184
  v1 r121
  v2 r95
  v3 r93
  v4 r181
  v5 r56
  v6 r126
  v7 r180
  v8 r54
  v9 r22
  v10 r160
  v11 r170
  v12
  v13 r27
  v14 r24
  v15 r14
  v16 r32
  v17 r99
  v18 r63
  v19 r89
  v20 r19
  v21 r15
  v22 r67
  v23 r179
  v24 r91
  v25 r112
  v26 r17
  v27 r131
  v28 r46
  v29 r190
  v30 r188
  v31 r98
  v32 r182
  v33 r165
  v34
  v35 r69
  v36 r64
  v37 r107
  v38 r133
  v39 r85
  v40 r147
  v41 r105
  v42 r82
  v43 r115
  v44 r135
  v45 r104
  v46 r183
  v47 r51
  v48
  v49 r47
  v50
  v51 r97
  v52 r176
  v53 r23
  v54 r50
  v55
  v56 r169
  v57 r26
  v58 r150
  v59 r53
  v60 r139
  v61 r52
  v62 r138
  v63 r155
  v64 r34
  v65 r86
  v66 r163
  v67 r159
  v68 r128
  v69 r172
  v70 r43
  v71 r71
  v72 r136
  v73 r42
  v74 r59
  v75 r178
  v76 r137
  v77 r144
  v78 r84
  v79 r122
  v80 r174
  v81 r61
  v82
  v83 r102
  v84 r80
  v85
  v86 r66
  v87 r37
  v88 r124
  v89 r186
  v90 r28
  v91 r110
  v92 r74
  v93 r153
  v94 r149
  v95 r130
  v96 r73
  v97 r132
  v98 r166
  v99 r39
  v100 r162
  v101 r123
  v102 r148
  v103 r62
  v104
  v105 r92
  v106 r141
  v107 r65
  v108 r116
  v109 r16
  v110 r154
  v111 r76
  v112 r68
  v113
  v114 r168
  v115 r129
  v116 r100
  v117 r48
  v118 r177
  v119 r79
  v120
  v121
  v122 r109
  v123 r30
  v124 r134
  v125 r31
  v126 r40
  v127 r111
  v128 r44
  v129 r45
  v130 r187
  v131 r175
  v132 r77
  v133 r167
  v134 r70
  v135 r189
  v136 r171
  v137 r108
  v138 r158
  v139
  v140 r106
  v141 r72
  v142 r83
  v143 r78
  v144 r120
  v145 r96
  v146
  v147 r185
  v148 r119
  v149 r164
  v150 r114
  v151 r145
  v152 r140
  v153 r87
  v154 r118
  v155 r143
  v156 r113
  v157 r20
  v158 r151
  v159 r57
  v160
  v161 r101
  v162 r103
  v163 r55
  v164 r94
  v165 r75
  v166 r90
  v167 r152
  v168 r117
  v169 r25
  v170 r125
  v171 r173
  v172 r41
  v173 r157
  v174 r161
  v175 r35
  v176 r36
  v177 r21
  v178 r142
  v179 r146
  v180 r38
  v181 r81
  v182 r49
  v183 r60
  v184 r156
  v185 r18
  v186 r127
  v187 r29
  v188 r88
  v189 r58
  v190 r33
 )
 (:init
  (at r184 v0)
  (at r121 v1)
  (at r95 v2)
  (at r93 v3)
  (at r181 v4)
  (at r56 v5)
  (at r126 v6)
  (at r180 v7)
  (at r54 v8)
  (at r22 v9)
  (at r160 v10)
  (at r170 v11)
  (free v12)
  (at r27 v13)
  (at r24 v14)
  (at r14 v15)
  (at r32 v16)
  (at r99 v17)
  (at r63 v18)
  (at r89 v19)
  (at r19 v20)
  (at r15 v21)
  (at r67 v22)
  (at r179 v23)
  (at r91 v24)
  (at r112 v25)
  (at r17 v26)
  (at r131 v27)
  (at r46 v28)
  (at r190 v29)
  (at r188 v30)
  (at r98 v31)
  (at r182 v32)
  (at r165 v33)
  (free v34)
  (at r69 v35)
  (at r64 v36)
  (at r107 v37)
  (at r133 v38)
  (at r85 v39)
  (at r147 v40)
  (at r105 v41)
  (at r82 v42)
  (at r115 v43)
  (at r135 v44)
  (at r104 v45)
  (at r183 v46)
  (at r51 v47)
  (free v48)
  (at r47 v49)
  (free v50)
  (at r97 v51)
  (at r176 v52)
  (at r23 v53)
  (at r50 v54)
  (free v55)
  (at r169 v56)
  (at r26 v57)
  (at r150 v58)
  (at r53 v59)
  (at r139 v60)
  (at r52 v61)
  (at r138 v62)
  (at r155 v63)
  (at r34 v64)
  (at r86 v65)
  (at r163 v66)
  (at r159 v67)
  (at r128 v68)
  (at r172 v69)
  (at r43 v70)
  (at r71 v71)
  (at r136 v72)
  (at r42 v73)
  (at r59 v74)
  (at r178 v75)
  (at r137 v76)
  (at r144 v77)
  (at r84 v78)
  (at r122 v79)
  (at r174 v80)
  (at r61 v81)
  (free v82)
  (at r102 v83)
  (at r80 v84)
  (free v85)
  (at r66 v86)
  (at r37 v87)
  (at r124 v88)
  (at r186 v89)
  (at r28 v90)
  (at r110 v91)
  (at r74 v92)
  (at r153 v93)
  (at r149 v94)
  (at r130 v95)
  (at r73 v96)
  (at r132 v97)
  (at r166 v98)
  (at r39 v99)
  (at r162 v100)
  (at r123 v101)
  (at r148 v102)
  (at r62 v103)
  (free v104)
  (at r92 v105)
  (at r141 v106)
  (at r65 v107)
  (at r116 v108)
  (at r16 v109)
  (at r154 v110)
  (at r76 v111)
  (at r68 v112)
  (free v113)
  (at r168 v114)
  (at r129 v115)
  (at r100 v116)
  (at r48 v117)
  (at r177 v118)
  (at r79 v119)
  (free v120)
  (free v121)
  (at r109 v122)
  (at r30 v123)
  (at r134 v124)
  (at r31 v125)
  (at r40 v126)
  (at r111 v127)
  (at r44 v128)
  (at r45 v129)
  (at r187 v130)
  (at r175 v131)
  (at r77 v132)
  (at r167 v133)
  (at r70 v134)
  (at r189 v135)
  (at r171 v136)
  (at r108 v137)
  (at r158 v138)
  (free v139)
  (at r106 v140)
  (at r72 v141)
  (at r83 v142)
  (at r78 v143)
  (at r120 v144)
  (at r96 v145)
  (free v146)
  (at r185 v147)
  (at r119 v148)
  (at r164 v149)
  (at r114 v150)
  (at r145 v151)
  (at r140 v152)
  (at r87 v153)
  (at r118 v154)
  (at r143 v155)
  (at r113 v156)
  (at r20 v157)
  (at r151 v158)
  (at r57 v159)
  (free v160)
  (at r101 v161)
  (at r103 v162)
  (at r55 v163)
  (at r94 v164)
  (at r75 v165)
  (at r90 v166)
  (at r152 v167)
  (at r117 v168)
  (at r25 v169)
  (at r125 v170)
  (at r173 v171)
  (at r41 v172)
  (at r157 v173)
  (at r161 v174)
  (at r35 v175)
  (at r36 v176)
  (at r21 v177)
  (at r142 v178)
  (at r146 v179)
  (at r38 v180)
  (at r81 v181)
  (at r49 v182)
  (at r60 v183)
  (at r156 v184)
  (at r18 v185)
  (at r127 v186)
  (at r29 v187)
  (at r88 v188)
  (at r58 v189)
  (at r33 v190)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v10)
  (adjacent v0 v12)
  (adjacent v0 v40)
  (adjacent v0 v47)
  (adjacent v1 v2)
  (adjacent v1 v159)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v19)
  (adjacent v4 v5)
  (adjacent v4 v11)
  (adjacent v4 v38)
  (adjacent v4 v56)
  (adjacent v5 v6)
  (adjacent v5 v62)
  (adjacent v5 v95)
  (adjacent v6 v7)
  (adjacent v6 v28)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v18)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v65)
  (adjacent v10 v88)
  (adjacent v10 v96)
  (adjacent v11 v37)
  (adjacent v11 v78)
  (adjacent v12 v13)
  (adjacent v12 v66)
  (adjacent v12 v113)
  (adjacent v13 v14)
  (adjacent v13 v23)
  (adjacent v14 v15)
  (adjacent v14 v34)
  (adjacent v15 v16)
  (adjacent v15 v127)
  (adjacent v15 v141)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v18 v22)
  (adjacent v18 v103)
  (adjacent v19 v20)
  (adjacent v19 v183)
  (adjacent v20 v21)
  (adjacent v20 v112)
  (adjacent v21 v22)
  (adjacent v21 v27)
  (adjacent v21 v156)
  (adjacent v22 v89)
  (adjacent v23 v24)
  (adjacent v23 v102)
  (adjacent v23 v176)
  (adjacent v24 v25)
  (adjacent v24 v35)
  (adjacent v24 v46)
  (adjacent v24 v68)
  (adjacent v25 v26)
  (adjacent v25 v131)
  (adjacent v25 v135)
  (adjacent v26 v27)
  (adjacent v26 v67)
  (adjacent v27 v84)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v104)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v132)
  (adjacent v33 v34)
  (adjacent v33 v51)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v55)
  (adjacent v37 v41)
  (adjacent v37 v103)
  (adjacent v37 v179)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v41 v42)
  (adjacent v41 v88)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v160)
  (adjacent v46 v52)
  (adjacent v46 v79)
  (adjacent v46 v93)
  (adjacent v47 v48)
  (adjacent v47 v127)
  (adjacent v48 v49)
  (adjacent v48 v87)
  (adjacent v49 v50)
  (adjacent v49 v114)
  (adjacent v49 v123)
  (adjacent v50 v51)
  (adjacent v50 v128)
  (adjacent v52 v53)
  (adjacent v52 v73)
  (adjacent v53 v54)
  (adjacent v53 v63)
  (adjacent v53 v113)
  (adjacent v54 v55)
  (adjacent v56 v57)
  (adjacent v56 v120)
  (adjacent v56 v155)
  (adjacent v57 v58)
  (adjacent v57 v83)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v165)
  (adjacent v61 v62)
  (adjacent v62 v169)
  (adjacent v62 v170)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v66 v67)
  (adjacent v68 v69)
  (adjacent v68 v177)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v74)
  (adjacent v72 v73)
  (adjacent v72 v122)
  (adjacent v74 v75)
  (adjacent v74 v94)
  (adjacent v75 v76)
  (adjacent v75 v148)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v79 v80)
  (adjacent v79 v190)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v86 v126)
  (adjacent v87 v108)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v94 v95)
  (adjacent v96 v97)
  (adjacent v96 v107)
  (adjacent v97 v98)
  (adjacent v97 v142)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v103 v184)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v119)
  (adjacent v107 v180)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v134)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v115 v149)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v124 v164)
  (adjacent v125 v126)
  (adjacent v127 v185)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v163 v184)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v180 v181)
  (adjacent v181 v182)
  (adjacent v182 v183)
  (adjacent v185 v186)
  (adjacent v186 v187)
  (adjacent v187 v188)
  (adjacent v188 v189)
  (adjacent v189 v190)
 )
 (:goal
  (and
  (at r51 v0)
  (at r81 v1)
  (at r120 v2)
  (at r70 v3)
  (at r87 v4)
  (at r102 v5)
  (at r189 v6)
  (at r134 v7)
  (at r84 v8)
  (at r142 v9)
  (at r160 v10)
  (free v11)
  (at r143 v12)
  (at r112 v13)
  (at r64 v14)
  (free v15)
  (at r53 v16)
  (at r188 v17)
  (at r66 v18)
  (at r97 v19)
  (free v20)
  (at r173 v21)
  (at r138 v22)
  (at r63 v23)
  (at r129 v24)
  (at r100 v25)
  (at r141 v26)
  (at r148 v27)
  (at r50 v28)
  (at r166 v29)
  (at r24 v30)
  (at r145 v31)
  (at r131 v32)
  (at r109 v33)
  (at r61 v34)
  (at r17 v35)
  (at r119 v36)
  (at r133 v37)
  (at r128 v38)
  (at r146 v39)
  (at r127 v40)
  (at r118 v41)
  (at r152 v42)
  (at r37 v43)
  (at r85 v44)
  (free v45)
  (at r165 v46)
  (at r115 v47)
  (at r155 v48)
  (at r150 v49)
  (at r46 v50)
  (at r103 v51)
  (at r19 v52)
  (at r139 v53)
  (at r172 v54)
  (at r16 v55)
  (at r62 v56)
  (at r95 v57)
  (at r122 v58)
  (at r26 v59)
  (at r183 v60)
  (at r20 v61)
  (at r161 v62)
  (at r153 v63)
  (at r136 v64)
  (at r176 v65)
  (at r177 v66)
  (at r168 v67)
  (at r185 v68)
  (at r25 v69)
  (at r107 v70)
  (at r144 v71)
  (at r54 v72)
  (at r68 v73)
  (at r151 v74)
  (at r76 v75)
  (at r130 v76)
  (at r43 v77)
  (at r104 v78)
  (at r40 v79)
  (at r117 v80)
  (at r35 v81)
  (at r187 v82)
  (at r93 v83)
  (at r175 v84)
  (at r67 v85)
  (free v86)
  (at r18 v87)
  (at r47 v88)
  (at r184 v89)
  (at r162 v90)
  (at r14 v91)
  (at r49 v92)
  (at r52 v93)
  (at r27 v94)
  (at r55 v95)
  (at r125 v96)
  (at r39 v97)
  (at r32 v98)
  (at r31 v99)
  (at r169 v100)
  (at r132 v101)
  (at r30 v102)
  (at r77 v103)
  (at r22 v104)
  (at r82 v105)
  (at r157 v106)
  (at r91 v107)
  (at r111 v108)
  (at r101 v109)
  (at r78 v110)
  (at r96 v111)
  (at r158 v112)
  (at r72 v113)
  (free v114)
  (free v115)
  (at r126 v116)
  (at r190 v117)
  (at r45 v118)
  (at r86 v119)
  (at r116 v120)
  (free v121)
  (at r80 v122)
  (at r29 v123)
  (free v124)
  (at r94 v125)
  (at r186 v126)
  (at r48 v127)
  (at r170 v128)
  (at r114 v129)
  (at r113 v130)
  (at r90 v131)
  (at r28 v132)
  (at r88 v133)
  (at r174 v134)
  (at r123 v135)
  (at r89 v136)
  (at r71 v137)
  (at r60 v138)
  (at r147 v139)
  (at r23 v140)
  (free v141)
  (at r58 v142)
  (at r180 v143)
  (at r105 v144)
  (at r156 v145)
  (at r21 v146)
  (at r56 v147)
  (at r41 v148)
  (at r36 v149)
  (at r167 v150)
  (at r42 v151)
  (at r83 v152)
  (at r164 v153)
  (at r69 v154)
  (at r106 v155)
  (at r121 v156)
  (at r44 v157)
  (at r140 v158)
  (at r73 v159)
  (free v160)
  (at r163 v161)
  (at r179 v162)
  (at r135 v163)
  (at r154 v164)
  (at r59 v165)
  (at r79 v166)
  (at r149 v167)
  (at r15 v168)
  (at r171 v169)
  (at r110 v170)
  (free v171)
  (at r137 v172)
  (at r182 v173)
  (at r75 v174)
  (at r92 v175)
  (at r34 v176)
  (at r159 v177)
  (at r57 v178)
  (at r33 v179)
  (at r99 v180)
  (at r98 v181)
  (at r38 v182)
  (at r74 v183)
  (at r178 v184)
  (at r65 v185)
  (free v186)
  (free v187)
  (at r108 v188)
  (at r124 v189)
  (at r181 v190)
  )
 )
)