(define (problem multirobot_47_10%_c4)
 (:domain multirobot)
 (:objects
  v0 r99
  v1 r126
  v2 r157
  v3 r124
  v4 r21
  v5 r31
  v6 r44
  v7 r83
  v8 r150
  v9 r80
  v10 r49
  v11
  v12 r120
  v13 r153
  v14 r59
  v15 r130
  v16 r30
  v17 r104
  v18 r77
  v19 r107
  v20 r95
  v21 r82
  v22
  v23 r58
  v24 r24
  v25 r35
  v26 r106
  v27 r20
  v28 r72
  v29 r55
  v30 r166
  v31 r26
  v32 r111
  v33 r46
  v34 r81
  v35 r116
  v36 r28
  v37 r42
  v38 r170
  v39 r70
  v40 r37
  v41 r94
  v42 r146
  v43 r64
  v44 r164
  v45 r140
  v46 r71
  v47
  v48 r132
  v49 r39
  v50 r88
  v51 r85
  v52 r67
  v53 r105
  v54 r167
  v55 r168
  v56 r128
  v57 r108
  v58 r63
  v59 r109
  v60 r172
  v61 r47
  v62 r50
  v63
  v64 r33
  v65 r145
  v66 r74
  v67 r45
  v68 r160
  v69 r75
  v70
  v71 r69
  v72 r25
  v73 r19
  v74
  v75 r169
  v76 r79
  v77 r86
  v78
  v79 r101
  v80 r118
  v81 r159
  v82 r110
  v83 r119
  v84 r158
  v85 r131
  v86 r122
  v87 r43
  v88 r68
  v89 r125
  v90 r38
  v91 r53
  v92 r141
  v93 r41
  v94 r32
  v95 r87
  v96 r40
  v97 r22
  v98 r93
  v99
  v100 r113
  v101 r127
  v102 r65
  v103 r147
  v104 r34
  v105 r154
  v106 r54
  v107 r136
  v108
  v109 r138
  v110 r91
  v111 r98
  v112 r162
  v113 r161
  v114 r142
  v115 r149
  v116 r151
  v117
  v118 r84
  v119 r29
  v120 r103
  v121 r163
  v122 r171
  v123
  v124 r143
  v125 r129
  v126
  v127 r73
  v128 r134
  v129 r48
  v130 r152
  v131 r51
  v132 r156
  v133 r90
  v134 r114
  v135 r137
  v136 r78
  v137 r57
  v138
  v139 r102
  v140 r135
  v141 r60
  v142
  v143 r18
  v144
  v145 r133
  v146 r117
  v147 r144
  v148 r123
  v149 r139
  v150 r155
  v151 r66
  v152 r96
  v153 r121
  v154 r76
  v155 r36
  v156
  v157 r100
  v158 r148
  v159
  v160
  v161 r52
  v162 r56
  v163 r92
  v164 r23
  v165 r165
  v166 r62
  v167 r97
  v168 r61
  v169 r27
  v170 r112
  v171 r115
  v172 r89
 )
 (:init
  (at r99 v0)
  (at r126 v1)
  (at r157 v2)
  (at r124 v3)
  (at r21 v4)
  (at r31 v5)
  (at r44 v6)
  (at r83 v7)
  (at r150 v8)
  (at r80 v9)
  (at r49 v10)
  (free v11)
  (at r120 v12)
  (at r153 v13)
  (at r59 v14)
  (at r130 v15)
  (at r30 v16)
  (at r104 v17)
  (at r77 v18)
  (at r107 v19)
  (at r95 v20)
  (at r82 v21)
  (free v22)
  (at r58 v23)
  (at r24 v24)
  (at r35 v25)
  (at r106 v26)
  (at r20 v27)
  (at r72 v28)
  (at r55 v29)
  (at r166 v30)
  (at r26 v31)
  (at r111 v32)
  (at r46 v33)
  (at r81 v34)
  (at r116 v35)
  (at r28 v36)
  (at r42 v37)
  (at r170 v38)
  (at r70 v39)
  (at r37 v40)
  (at r94 v41)
  (at r146 v42)
  (at r64 v43)
  (at r164 v44)
  (at r140 v45)
  (at r71 v46)
  (free v47)
  (at r132 v48)
  (at r39 v49)
  (at r88 v50)
  (at r85 v51)
  (at r67 v52)
  (at r105 v53)
  (at r167 v54)
  (at r168 v55)
  (at r128 v56)
  (at r108 v57)
  (at r63 v58)
  (at r109 v59)
  (at r172 v60)
  (at r47 v61)
  (at r50 v62)
  (free v63)
  (at r33 v64)
  (at r145 v65)
  (at r74 v66)
  (at r45 v67)
  (at r160 v68)
  (at r75 v69)
  (free v70)
  (at r69 v71)
  (at r25 v72)
  (at r19 v73)
  (free v74)
  (at r169 v75)
  (at r79 v76)
  (at r86 v77)
  (free v78)
  (at r101 v79)
  (at r118 v80)
  (at r159 v81)
  (at r110 v82)
  (at r119 v83)
  (at r158 v84)
  (at r131 v85)
  (at r122 v86)
  (at r43 v87)
  (at r68 v88)
  (at r125 v89)
  (at r38 v90)
  (at r53 v91)
  (at r141 v92)
  (at r41 v93)
  (at r32 v94)
  (at r87 v95)
  (at r40 v96)
  (at r22 v97)
  (at r93 v98)
  (free v99)
  (at r113 v100)
  (at r127 v101)
  (at r65 v102)
  (at r147 v103)
  (at r34 v104)
  (at r154 v105)
  (at r54 v106)
  (at r136 v107)
  (free v108)
  (at r138 v109)
  (at r91 v110)
  (at r98 v111)
  (at r162 v112)
  (at r161 v113)
  (at r142 v114)
  (at r149 v115)
  (at r151 v116)
  (free v117)
  (at r84 v118)
  (at r29 v119)
  (at r103 v120)
  (at r163 v121)
  (at r171 v122)
  (free v123)
  (at r143 v124)
  (at r129 v125)
  (free v126)
  (at r73 v127)
  (at r134 v128)
  (at r48 v129)
  (at r152 v130)
  (at r51 v131)
  (at r156 v132)
  (at r90 v133)
  (at r114 v134)
  (at r137 v135)
  (at r78 v136)
  (at r57 v137)
  (free v138)
  (at r102 v139)
  (at r135 v140)
  (at r60 v141)
  (free v142)
  (at r18 v143)
  (free v144)
  (at r133 v145)
  (at r117 v146)
  (at r144 v147)
  (at r123 v148)
  (at r139 v149)
  (at r155 v150)
  (at r66 v151)
  (at r96 v152)
  (at r121 v153)
  (at r76 v154)
  (at r36 v155)
  (free v156)
  (at r100 v157)
  (at r148 v158)
  (free v159)
  (free v160)
  (at r52 v161)
  (at r56 v162)
  (at r92 v163)
  (at r23 v164)
  (at r165 v165)
  (at r62 v166)
  (at r97 v167)
  (at r61 v168)
  (at r27 v169)
  (at r112 v170)
  (at r115 v171)
  (at r89 v172)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v67)
  (adjacent v0 v97)
  (adjacent v0 v156)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v9)
  (adjacent v2 v3)
  (adjacent v2 v6)
  (adjacent v2 v14)
  (adjacent v2 v102)
  (adjacent v2 v116)
  (adjacent v3 v4)
  (adjacent v3 v8)
  (adjacent v3 v15)
  (adjacent v3 v51)
  (adjacent v4 v5)
  (adjacent v5 v16)
  (adjacent v5 v37)
  (adjacent v5 v56)
  (adjacent v6 v7)
  (adjacent v6 v35)
  (adjacent v6 v43)
  (adjacent v7 v8)
  (adjacent v7 v21)
  (adjacent v7 v60)
  (adjacent v9 v10)
  (adjacent v9 v15)
  (adjacent v10 v11)
  (adjacent v10 v61)
  (adjacent v10 v80)
  (adjacent v11 v12)
  (adjacent v11 v20)
  (adjacent v11 v27)
  (adjacent v11 v28)
  (adjacent v11 v153)
  (adjacent v11 v154)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v15 v48)
  (adjacent v15 v49)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v38)
  (adjacent v18 v19)
  (adjacent v18 v56)
  (adjacent v19 v20)
  (adjacent v20 v63)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v40)
  (adjacent v23 v24)
  (adjacent v23 v34)
  (adjacent v23 v117)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v42)
  (adjacent v26 v27)
  (adjacent v26 v39)
  (adjacent v26 v154)
  (adjacent v27 v57)
  (adjacent v27 v105)
  (adjacent v28 v29)
  (adjacent v28 v89)
  (adjacent v29 v30)
  (adjacent v29 v50)
  (adjacent v29 v159)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v38)
  (adjacent v31 v103)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v35 v36)
  (adjacent v35 v109)
  (adjacent v36 v37)
  (adjacent v36 v73)
  (adjacent v37 v39)
  (adjacent v38 v64)
  (adjacent v39 v88)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v72)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v123)
  (adjacent v45 v46)
  (adjacent v45 v119)
  (adjacent v45 v149)
  (adjacent v46 v47)
  (adjacent v46 v162)
  (adjacent v47 v48)
  (adjacent v47 v79)
  (adjacent v47 v100)
  (adjacent v49 v50)
  (adjacent v49 v68)
  (adjacent v49 v82)
  (adjacent v49 v163)
  (adjacent v50 v55)
  (adjacent v51 v52)
  (adjacent v51 v101)
  (adjacent v51 v104)
  (adjacent v51 v172)
  (adjacent v52 v53)
  (adjacent v52 v138)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v137)
  (adjacent v56 v118)
  (adjacent v57 v58)
  (adjacent v57 v80)
  (adjacent v57 v141)
  (adjacent v58 v59)
  (adjacent v58 v81)
  (adjacent v59 v60)
  (adjacent v60 v94)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v66 v81)
  (adjacent v66 v160)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v70 v95)
  (adjacent v70 v98)
  (adjacent v71 v72)
  (adjacent v72 v124)
  (adjacent v72 v125)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v81 v132)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v86 v115)
  (adjacent v87 v88)
  (adjacent v87 v131)
  (adjacent v88 v137)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v90 v116)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v108)
  (adjacent v94 v142)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v103 v104)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v109 v110)
  (adjacent v109 v148)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v112 v136)
  (adjacent v113 v114)
  (adjacent v113 v155)
  (adjacent v114 v115)
  (adjacent v117 v118)
  (adjacent v119 v120)
  (adjacent v119 v124)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v127 v155)
  (adjacent v128 v129)
  (adjacent v128 v136)
  (adjacent v129 v130)
  (adjacent v129 v135)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v140 v167)
  (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 v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v158 v168)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
 )
 (:goal
  (and
  (at r47 v0)
  (at r141 v1)
  (at r113 v2)
  (at r160 v3)
  (at r167 v4)
  (at r77 v5)
  (at r128 v6)
  (at r101 v7)
  (at r85 v8)
  (at r93 v9)
  (at r90 v10)
  (at r133 v11)
  (at r61 v12)
  (at r96 v13)
  (at r51 v14)
  (at r117 v15)
  (at r31 v16)
  (at r62 v17)
  (at r104 v18)
  (at r125 v19)
  (at r146 v20)
  (at r155 v21)
  (at r46 v22)
  (at r76 v23)
  (at r19 v24)
  (at r81 v25)
  (at r37 v26)
  (at r65 v27)
  (at r114 v28)
  (at r171 v29)
  (at r45 v30)
  (at r86 v31)
  (at r52 v32)
  (free v33)
  (at r108 v34)
  (at r30 v35)
  (at r69 v36)
  (at r28 v37)
  (free v38)
  (at r82 v39)
  (at r110 v40)
  (at r151 v41)
  (at r111 v42)
  (at r57 v43)
  (at r132 v44)
  (at r123 v45)
  (at r137 v46)
  (at r39 v47)
  (at r147 v48)
  (free v49)
  (free v50)
  (at r70 v51)
  (at r144 v52)
  (at r109 v53)
  (at r79 v54)
  (at r158 v55)
  (at r136 v56)
  (at r72 v57)
  (at r43 v58)
  (free v59)
  (at r154 v60)
  (at r87 v61)
  (at r164 v62)
  (at r41 v63)
  (at r26 v64)
  (at r140 v65)
  (at r105 v66)
  (at r20 v67)
  (at r38 v68)
  (at r98 v69)
  (at r153 v70)
  (at r75 v71)
  (at r80 v72)
  (free v73)
  (at r27 v74)
  (free v75)
  (free v76)
  (at r131 v77)
  (at r25 v78)
  (at r18 v79)
  (at r36 v80)
  (free v81)
  (at r97 v82)
  (at r35 v83)
  (at r118 v84)
  (at r92 v85)
  (at r134 v86)
  (at r74 v87)
  (free v88)
  (at r29 v89)
  (at r100 v90)
  (at r116 v91)
  (at r56 v92)
  (at r73 v93)
  (at r165 v94)
  (at r53 v95)
  (at r148 v96)
  (at r150 v97)
  (at r83 v98)
  (at r162 v99)
  (at r156 v100)
  (at r172 v101)
  (free v102)
  (free v103)
  (free v104)
  (at r22 v105)
  (at r126 v106)
  (at r170 v107)
  (at r24 v108)
  (at r121 v109)
  (at r21 v110)
  (at r78 v111)
  (at r50 v112)
  (free v113)
  (at r64 v114)
  (at r143 v115)
  (at r95 v116)
  (at r42 v117)
  (at r44 v118)
  (at r149 v119)
  (at r71 v120)
  (at r49 v121)
  (at r145 v122)
  (at r161 v123)
  (at r129 v124)
  (at r40 v125)
  (at r68 v126)
  (at r102 v127)
  (at r130 v128)
  (at r166 v129)
  (at r59 v130)
  (at r34 v131)
  (at r115 v132)
  (at r91 v133)
  (at r103 v134)
  (at r33 v135)
  (at r99 v136)
  (at r127 v137)
  (at r60 v138)
  (at r32 v139)
  (at r112 v140)
  (at r106 v141)
  (at r163 v142)
  (at r159 v143)
  (free v144)
  (free v145)
  (at r169 v146)
  (at r138 v147)
  (at r63 v148)
  (at r66 v149)
  (at r48 v150)
  (at r55 v151)
  (at r124 v152)
  (at r88 v153)
  (at r152 v154)
  (at r119 v155)
  (at r67 v156)
  (at r122 v157)
  (free v158)
  (at r54 v159)
  (at r168 v160)
  (at r120 v161)
  (free v162)
  (at r107 v163)
  (at r139 v164)
  (at r58 v165)
  (at r84 v166)
  (at r142 v167)
  (at r89 v168)
  (at r135 v169)
  (at r157 v170)
  (at r94 v171)
  (at r23 v172)
  )
 )
)