(define (problem multirobot_46_10%_c9)
 (:domain multirobot)
 (:objects
  v0 r162
  v1 r33
  v2 r51
  v3 r140
  v4 r75
  v5
  v6 r74
  v7 r115
  v8 r98
  v9 r68
  v10 r171
  v11 r64
  v12 r40
  v13 r176
  v14 r46
  v15 r59
  v16 r86
  v17
  v18 r41
  v19 r99
  v20
  v21 r24
  v22 r63
  v23 r76
  v24 r105
  v25 r110
  v26 r19
  v27 r25
  v28 r135
  v29 r21
  v30 r47
  v31 r104
  v32 r20
  v33
  v34 r121
  v35 r157
  v36 r122
  v37 r116
  v38 r175
  v39 r71
  v40 r101
  v41 r34
  v42
  v43 r149
  v44
  v45 r109
  v46 r173
  v47 r28
  v48 r145
  v49 r151
  v50 r148
  v51 r78
  v52 r128
  v53 r96
  v54 r58
  v55 r79
  v56 r112
  v57
  v58 r80
  v59 r95
  v60 r61
  v61 r67
  v62 r92
  v63 r65
  v64 r156
  v65 r52
  v66 r142
  v67 r129
  v68 r54
  v69 r36
  v70 r165
  v71 r91
  v72 r123
  v73 r26
  v74 r167
  v75 r56
  v76 r163
  v77 r146
  v78 r100
  v79 r154
  v80
  v81 r169
  v82 r97
  v83 r43
  v84 r130
  v85 r155
  v86 r103
  v87 r93
  v88 r22
  v89 r53
  v90 r137
  v91 r31
  v92 r153
  v93 r30
  v94 r144
  v95 r23
  v96 r84
  v97 r39
  v98 r170
  v99 r77
  v100 r27
  v101 r125
  v102 r73
  v103 r124
  v104 r17
  v105 r131
  v106 r70
  v107 r38
  v108 r106
  v109 r81
  v110 r18
  v111 r113
  v112
  v113
  v114 r45
  v115 r37
  v116 r72
  v117 r42
  v118 r89
  v119 r85
  v120 r66
  v121 r172
  v122 r83
  v123 r138
  v124 r164
  v125 r159
  v126 r94
  v127 r141
  v128 r139
  v129 r150
  v130 r127
  v131 r114
  v132 r60
  v133 r107
  v134 r166
  v135
  v136 r87
  v137 r178
  v138 r160
  v139
  v140 r49
  v141 r126
  v142 r177
  v143 r120
  v144 r111
  v145
  v146 r134
  v147 r48
  v148 r32
  v149 r118
  v150 r57
  v151
  v152 r29
  v153 r132
  v154
  v155 r90
  v156 r88
  v157 r117
  v158 r69
  v159 r55
  v160 r136
  v161 r152
  v162 r147
  v163 r168
  v164 r119
  v165 r108
  v166 r102
  v167 r158
  v168 r50
  v169 r143
  v170 r174
  v171
  v172 r35
  v173 r44
  v174 r62
  v175 r161
  v176 r82
  v177 r16
  v178 r133
 )
 (:init
  (at r162 v0)
  (at r33 v1)
  (at r51 v2)
  (at r140 v3)
  (at r75 v4)
  (free v5)
  (at r74 v6)
  (at r115 v7)
  (at r98 v8)
  (at r68 v9)
  (at r171 v10)
  (at r64 v11)
  (at r40 v12)
  (at r176 v13)
  (at r46 v14)
  (at r59 v15)
  (at r86 v16)
  (free v17)
  (at r41 v18)
  (at r99 v19)
  (free v20)
  (at r24 v21)
  (at r63 v22)
  (at r76 v23)
  (at r105 v24)
  (at r110 v25)
  (at r19 v26)
  (at r25 v27)
  (at r135 v28)
  (at r21 v29)
  (at r47 v30)
  (at r104 v31)
  (at r20 v32)
  (free v33)
  (at r121 v34)
  (at r157 v35)
  (at r122 v36)
  (at r116 v37)
  (at r175 v38)
  (at r71 v39)
  (at r101 v40)
  (at r34 v41)
  (free v42)
  (at r149 v43)
  (free v44)
  (at r109 v45)
  (at r173 v46)
  (at r28 v47)
  (at r145 v48)
  (at r151 v49)
  (at r148 v50)
  (at r78 v51)
  (at r128 v52)
  (at r96 v53)
  (at r58 v54)
  (at r79 v55)
  (at r112 v56)
  (free v57)
  (at r80 v58)
  (at r95 v59)
  (at r61 v60)
  (at r67 v61)
  (at r92 v62)
  (at r65 v63)
  (at r156 v64)
  (at r52 v65)
  (at r142 v66)
  (at r129 v67)
  (at r54 v68)
  (at r36 v69)
  (at r165 v70)
  (at r91 v71)
  (at r123 v72)
  (at r26 v73)
  (at r167 v74)
  (at r56 v75)
  (at r163 v76)
  (at r146 v77)
  (at r100 v78)
  (at r154 v79)
  (free v80)
  (at r169 v81)
  (at r97 v82)
  (at r43 v83)
  (at r130 v84)
  (at r155 v85)
  (at r103 v86)
  (at r93 v87)
  (at r22 v88)
  (at r53 v89)
  (at r137 v90)
  (at r31 v91)
  (at r153 v92)
  (at r30 v93)
  (at r144 v94)
  (at r23 v95)
  (at r84 v96)
  (at r39 v97)
  (at r170 v98)
  (at r77 v99)
  (at r27 v100)
  (at r125 v101)
  (at r73 v102)
  (at r124 v103)
  (at r17 v104)
  (at r131 v105)
  (at r70 v106)
  (at r38 v107)
  (at r106 v108)
  (at r81 v109)
  (at r18 v110)
  (at r113 v111)
  (free v112)
  (free v113)
  (at r45 v114)
  (at r37 v115)
  (at r72 v116)
  (at r42 v117)
  (at r89 v118)
  (at r85 v119)
  (at r66 v120)
  (at r172 v121)
  (at r83 v122)
  (at r138 v123)
  (at r164 v124)
  (at r159 v125)
  (at r94 v126)
  (at r141 v127)
  (at r139 v128)
  (at r150 v129)
  (at r127 v130)
  (at r114 v131)
  (at r60 v132)
  (at r107 v133)
  (at r166 v134)
  (free v135)
  (at r87 v136)
  (at r178 v137)
  (at r160 v138)
  (free v139)
  (at r49 v140)
  (at r126 v141)
  (at r177 v142)
  (at r120 v143)
  (at r111 v144)
  (free v145)
  (at r134 v146)
  (at r48 v147)
  (at r32 v148)
  (at r118 v149)
  (at r57 v150)
  (free v151)
  (at r29 v152)
  (at r132 v153)
  (free v154)
  (at r90 v155)
  (at r88 v156)
  (at r117 v157)
  (at r69 v158)
  (at r55 v159)
  (at r136 v160)
  (at r152 v161)
  (at r147 v162)
  (at r168 v163)
  (at r119 v164)
  (at r108 v165)
  (at r102 v166)
  (at r158 v167)
  (at r50 v168)
  (at r143 v169)
  (at r174 v170)
  (free v171)
  (at r35 v172)
  (at r44 v173)
  (at r62 v174)
  (at r161 v175)
  (at r82 v176)
  (at r16 v177)
  (at r133 v178)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v11)
  (adjacent v1 v12)
  (adjacent v1 v32)
  (adjacent v1 v70)
  (adjacent v2 v3)
  (adjacent v2 v7)
  (adjacent v2 v44)
  (adjacent v2 v105)
  (adjacent v2 v138)
  (adjacent v3 v4)
  (adjacent v3 v169)
  (adjacent v4 v122)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v30)
  (adjacent v7 v37)
  (adjacent v7 v38)
  (adjacent v7 v78)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v31)
  (adjacent v9 v72)
  (adjacent v9 v74)
  (adjacent v10 v11)
  (adjacent v10 v49)
  (adjacent v11 v18)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v57)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v39)
  (adjacent v17 v18)
  (adjacent v17 v19)
  (adjacent v17 v26)
  (adjacent v18 v25)
  (adjacent v18 v26)
  (adjacent v19 v20)
  (adjacent v19 v136)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v88)
  (adjacent v22 v23)
  (adjacent v22 v31)
  (adjacent v22 v99)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v25 v97)
  (adjacent v26 v27)
  (adjacent v26 v81)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v38)
  (adjacent v29 v62)
  (adjacent v30 v79)
  (adjacent v31 v50)
  (adjacent v31 v166)
  (adjacent v32 v33)
  (adjacent v32 v137)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v43)
  (adjacent v34 v121)
  (adjacent v35 v36)
  (adjacent v35 v56)
  (adjacent v35 v147)
  (adjacent v36 v37)
  (adjacent v36 v82)
  (adjacent v37 v171)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v73)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v63)
  (adjacent v49 v128)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v51 v69)
  (adjacent v51 v90)
  (adjacent v51 v92)
  (adjacent v52 v53)
  (adjacent v52 v111)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v117)
  (adjacent v55 v56)
  (adjacent v55 v80)
  (adjacent v55 v96)
  (adjacent v57 v58)
  (adjacent v57 v93)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v116)
  (adjacent v59 v158)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v77)
  (adjacent v62 v146)
  (adjacent v62 v152)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v65 v92)
  (adjacent v65 v168)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v67 v107)
  (adjacent v68 v69)
  (adjacent v69 v89)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v104)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v76 v106)
  (adjacent v77 v89)
  (adjacent v78 v79)
  (adjacent v78 v131)
  (adjacent v80 v81)
  (adjacent v80 v173)
  (adjacent v82 v83)
  (adjacent v82 v94)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v87 v93)
  (adjacent v88 v91)
  (adjacent v88 v159)
  (adjacent v89 v98)
  (adjacent v89 v127)
  (adjacent v90 v91)
  (adjacent v91 v170)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v97 v98)
  (adjacent v98 v110)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v102 v178)
  (adjacent v103 v104)
  (adjacent v104 v169)
  (adjacent v105 v106)
  (adjacent v106 v140)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v109 v148)
  (adjacent v110 v135)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v118 v130)
  (adjacent v118 v151)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v120 v172)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v123 v141)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v125 v165)
  (adjacent v126 v127)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v138 v139)
  (adjacent v138 v147)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v142 v170)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v171 v172)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
 )
 (:goal
  (and
  (free v0)
  (at r25 v1)
  (at r73 v2)
  (at r102 v3)
  (at r22 v4)
  (at r178 v5)
  (at r60 v6)
  (at r177 v7)
  (at r83 v8)
  (free v9)
  (at r149 v10)
  (at r154 v11)
  (at r101 v12)
  (at r80 v13)
  (at r18 v14)
  (free v15)
  (free v16)
  (at r56 v17)
  (at r29 v18)
  (at r53 v19)
  (at r105 v20)
  (at r116 v21)
  (at r156 v22)
  (at r94 v23)
  (at r30 v24)
  (at r57 v25)
  (at r63 v26)
  (free v27)
  (at r119 v28)
  (at r98 v29)
  (at r50 v30)
  (free v31)
  (at r96 v32)
  (at r114 v33)
  (at r140 v34)
  (at r42 v35)
  (free v36)
  (at r159 v37)
  (at r49 v38)
  (at r78 v39)
  (at r135 v40)
  (at r131 v41)
  (at r48 v42)
  (at r26 v43)
  (free v44)
  (free v45)
  (free v46)
  (at r145 v47)
  (at r32 v48)
  (at r16 v49)
  (at r93 v50)
  (at r74 v51)
  (at r129 v52)
  (at r138 v53)
  (at r124 v54)
  (at r90 v55)
  (at r169 v56)
  (at r36 v57)
  (at r44 v58)
  (at r155 v59)
  (at r133 v60)
  (at r72 v61)
  (at r85 v62)
  (free v63)
  (at r68 v64)
  (at r62 v65)
  (at r37 v66)
  (at r171 v67)
  (at r142 v68)
  (at r157 v69)
  (at r111 v70)
  (at r112 v71)
  (at r176 v72)
  (at r69 v73)
  (at r161 v74)
  (at r20 v75)
  (at r108 v76)
  (at r21 v77)
  (at r45 v78)
  (at r150 v79)
  (at r65 v80)
  (at r137 v81)
  (at r122 v82)
  (at r141 v83)
  (at r19 v84)
  (at r170 v85)
  (at r31 v86)
  (at r77 v87)
  (at r125 v88)
  (at r99 v89)
  (at r168 v90)
  (at r27 v91)
  (at r64 v92)
  (at r153 v93)
  (at r76 v94)
  (at r165 v95)
  (at r92 v96)
  (at r82 v97)
  (at r70 v98)
  (at r151 v99)
  (at r152 v100)
  (at r132 v101)
  (at r39 v102)
  (at r52 v103)
  (at r67 v104)
  (at r46 v105)
  (at r107 v106)
  (at r164 v107)
  (at r97 v108)
  (at r91 v109)
  (at r58 v110)
  (at r89 v111)
  (at r117 v112)
  (at r88 v113)
  (free v114)
  (at r17 v115)
  (at r38 v116)
  (at r126 v117)
  (at r130 v118)
  (at r118 v119)
  (at r172 v120)
  (at r81 v121)
  (at r158 v122)
  (at r109 v123)
  (at r86 v124)
  (at r174 v125)
  (at r66 v126)
  (at r106 v127)
  (at r163 v128)
  (at r87 v129)
  (free v130)
  (at r84 v131)
  (at r75 v132)
  (at r143 v133)
  (at r24 v134)
  (at r100 v135)
  (at r123 v136)
  (at r40 v137)
  (at r121 v138)
  (at r127 v139)
  (at r148 v140)
  (at r35 v141)
  (at r173 v142)
  (free v143)
  (at r166 v144)
  (at r51 v145)
  (at r160 v146)
  (at r55 v147)
  (at r54 v148)
  (at r59 v149)
  (free v150)
  (at r61 v151)
  (at r175 v152)
  (at r110 v153)
  (at r113 v154)
  (at r128 v155)
  (at r139 v156)
  (at r134 v157)
  (at r103 v158)
  (at r136 v159)
  (at r33 v160)
  (at r147 v161)
  (at r167 v162)
  (free v163)
  (at r162 v164)
  (at r104 v165)
  (at r115 v166)
  (at r79 v167)
  (at r43 v168)
  (at r28 v169)
  (at r71 v170)
  (at r23 v171)
  (at r41 v172)
  (at r144 v173)
  (at r95 v174)
  (at r120 v175)
  (at r146 v176)
  (at r34 v177)
  (at r47 v178)
  )
 )
)