(define (problem multirobot_49_10%_c9)
 (:domain multirobot)
 (:objects
  v0 r106
  v1 r156
  v2 r138
  v3 r101
  v4 r140
  v5 r158
  v6 r121
  v7 r92
  v8 r55
  v9
  v10 r98
  v11 r95
  v12 r21
  v13 r20
  v14 r151
  v15 r73
  v16 r37
  v17 r107
  v18 r124
  v19 r142
  v20 r76
  v21 r24
  v22 r150
  v23 r48
  v24 r83
  v25 r167
  v26 r91
  v27 r99
  v28 r153
  v29 r111
  v30 r30
  v31 r28
  v32
  v33 r47
  v34
  v35
  v36 r133
  v37 r82
  v38 r148
  v39 r105
  v40
  v41
  v42 r171
  v43 r86
  v44 r136
  v45 r163
  v46 r103
  v47 r64
  v48 r141
  v49 r108
  v50 r32
  v51 r149
  v52 r51
  v53 r46
  v54 r33
  v55 r84
  v56 r69
  v57 r161
  v58 r26
  v59
  v60 r36
  v61 r50
  v62 r94
  v63 r120
  v64 r104
  v65 r89
  v66 r25
  v67 r159
  v68 r134
  v69 r71
  v70 r23
  v71 r49
  v72 r137
  v73 r80
  v74 r123
  v75 r96
  v76
  v77 r78
  v78 r75
  v79 r145
  v80 r72
  v81 r40
  v82 r169
  v83 r54
  v84 r125
  v85 r115
  v86 r131
  v87 r41
  v88 r166
  v89 r27
  v90 r144
  v91 r165
  v92 r122
  v93 r93
  v94
  v95 r81
  v96 r63
  v97 r154
  v98 r52
  v99 r130
  v100 r143
  v101 r56
  v102 r90
  v103
  v104 r53
  v105 r74
  v106 r44
  v107 r45
  v108 r87
  v109 r77
  v110 r43
  v111 r157
  v112 r88
  v113
  v114
  v115 r147
  v116 r38
  v117 r68
  v118 r100
  v119 r35
  v120 r135
  v121 r34
  v122 r112
  v123 r39
  v124
  v125 r162
  v126 r57
  v127 r116
  v128 r58
  v129 r164
  v130 r118
  v131
  v132
  v133 r170
  v134 r102
  v135 r127
  v136 r119
  v137 r132
  v138 r129
  v139 r113
  v140 r146
  v141 r168
  v142 r19
  v143 r65
  v144 r62
  v145 r126
  v146 r109
  v147 r70
  v148 r152
  v149
  v150 r128
  v151 r79
  v152 r139
  v153 r85
  v154 r110
  v155 r61
  v156 r42
  v157 r114
  v158 r155
  v159 r67
  v160
  v161 r29
  v162 r60
  v163
  v164 r22
  v165 r117
  v166 r66
  v167 r59
  v168 r160
  v169 r18
  v170 r97
  v171 r31
 )
 (:init
  (at r106 v0)
  (at r156 v1)
  (at r138 v2)
  (at r101 v3)
  (at r140 v4)
  (at r158 v5)
  (at r121 v6)
  (at r92 v7)
  (at r55 v8)
  (free v9)
  (at r98 v10)
  (at r95 v11)
  (at r21 v12)
  (at r20 v13)
  (at r151 v14)
  (at r73 v15)
  (at r37 v16)
  (at r107 v17)
  (at r124 v18)
  (at r142 v19)
  (at r76 v20)
  (at r24 v21)
  (at r150 v22)
  (at r48 v23)
  (at r83 v24)
  (at r167 v25)
  (at r91 v26)
  (at r99 v27)
  (at r153 v28)
  (at r111 v29)
  (at r30 v30)
  (at r28 v31)
  (free v32)
  (at r47 v33)
  (free v34)
  (free v35)
  (at r133 v36)
  (at r82 v37)
  (at r148 v38)
  (at r105 v39)
  (free v40)
  (free v41)
  (at r171 v42)
  (at r86 v43)
  (at r136 v44)
  (at r163 v45)
  (at r103 v46)
  (at r64 v47)
  (at r141 v48)
  (at r108 v49)
  (at r32 v50)
  (at r149 v51)
  (at r51 v52)
  (at r46 v53)
  (at r33 v54)
  (at r84 v55)
  (at r69 v56)
  (at r161 v57)
  (at r26 v58)
  (free v59)
  (at r36 v60)
  (at r50 v61)
  (at r94 v62)
  (at r120 v63)
  (at r104 v64)
  (at r89 v65)
  (at r25 v66)
  (at r159 v67)
  (at r134 v68)
  (at r71 v69)
  (at r23 v70)
  (at r49 v71)
  (at r137 v72)
  (at r80 v73)
  (at r123 v74)
  (at r96 v75)
  (free v76)
  (at r78 v77)
  (at r75 v78)
  (at r145 v79)
  (at r72 v80)
  (at r40 v81)
  (at r169 v82)
  (at r54 v83)
  (at r125 v84)
  (at r115 v85)
  (at r131 v86)
  (at r41 v87)
  (at r166 v88)
  (at r27 v89)
  (at r144 v90)
  (at r165 v91)
  (at r122 v92)
  (at r93 v93)
  (free v94)
  (at r81 v95)
  (at r63 v96)
  (at r154 v97)
  (at r52 v98)
  (at r130 v99)
  (at r143 v100)
  (at r56 v101)
  (at r90 v102)
  (free v103)
  (at r53 v104)
  (at r74 v105)
  (at r44 v106)
  (at r45 v107)
  (at r87 v108)
  (at r77 v109)
  (at r43 v110)
  (at r157 v111)
  (at r88 v112)
  (free v113)
  (free v114)
  (at r147 v115)
  (at r38 v116)
  (at r68 v117)
  (at r100 v118)
  (at r35 v119)
  (at r135 v120)
  (at r34 v121)
  (at r112 v122)
  (at r39 v123)
  (free v124)
  (at r162 v125)
  (at r57 v126)
  (at r116 v127)
  (at r58 v128)
  (at r164 v129)
  (at r118 v130)
  (free v131)
  (free v132)
  (at r170 v133)
  (at r102 v134)
  (at r127 v135)
  (at r119 v136)
  (at r132 v137)
  (at r129 v138)
  (at r113 v139)
  (at r146 v140)
  (at r168 v141)
  (at r19 v142)
  (at r65 v143)
  (at r62 v144)
  (at r126 v145)
  (at r109 v146)
  (at r70 v147)
  (at r152 v148)
  (free v149)
  (at r128 v150)
  (at r79 v151)
  (at r139 v152)
  (at r85 v153)
  (at r110 v154)
  (at r61 v155)
  (at r42 v156)
  (at r114 v157)
  (at r155 v158)
  (at r67 v159)
  (free v160)
  (at r29 v161)
  (at r60 v162)
  (free v163)
  (at r22 v164)
  (at r117 v165)
  (at r66 v166)
  (at r59 v167)
  (at r160 v168)
  (at r18 v169)
  (at r97 v170)
  (at r31 v171)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v8)
  (adjacent v0 v15)
  (adjacent v0 v101)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v9)
  (adjacent v1 v10)
  (adjacent v1 v19)
  (adjacent v1 v104)
  (adjacent v2 v3)
  (adjacent v2 v7)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v3 v25)
  (adjacent v4 v37)
  (adjacent v5 v6)
  (adjacent v5 v14)
  (adjacent v6 v7)
  (adjacent v8 v9)
  (adjacent v8 v20)
  (adjacent v9 v86)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v11 v16)
  (adjacent v12 v13)
  (adjacent v12 v15)
  (adjacent v12 v51)
  (adjacent v13 v14)
  (adjacent v13 v18)
  (adjacent v15 v24)
  (adjacent v15 v86)
  (adjacent v15 v100)
  (adjacent v16 v17)
  (adjacent v16 v51)
  (adjacent v17 v18)
  (adjacent v17 v25)
  (adjacent v17 v31)
  (adjacent v17 v65)
  (adjacent v18 v19)
  (adjacent v19 v169)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v83)
  (adjacent v22 v116)
  (adjacent v23 v24)
  (adjacent v23 v26)
  (adjacent v23 v39)
  (adjacent v23 v72)
  (adjacent v23 v145)
  (adjacent v24 v58)
  (adjacent v25 v43)
  (adjacent v25 v136)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v32)
  (adjacent v27 v131)
  (adjacent v28 v29)
  (adjacent v28 v46)
  (adjacent v29 v30)
  (adjacent v29 v44)
  (adjacent v29 v71)
  (adjacent v29 v111)
  (adjacent v30 v31)
  (adjacent v30 v50)
  (adjacent v30 v70)
  (adjacent v32 v33)
  (adjacent v32 v84)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v38)
  (adjacent v38 v39)
  (adjacent v38 v47)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v64)
  (adjacent v44 v45)
  (adjacent v44 v59)
  (adjacent v45 v46)
  (adjacent v46 v52)
  (adjacent v46 v149)
  (adjacent v47 v48)
  (adjacent v47 v88)
  (adjacent v47 v89)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v84)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v57 v77)
  (adjacent v57 v166)
  (adjacent v58 v156)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v118)
  (adjacent v62 v63)
  (adjacent v62 v76)
  (adjacent v63 v64)
  (adjacent v63 v71)
  (adjacent v64 v95)
  (adjacent v65 v66)
  (adjacent v65 v85)
  (adjacent v66 v67)
  (adjacent v66 v171)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v85)
  (adjacent v68 v105)
  (adjacent v69 v70)
  (adjacent v70 v137)
  (adjacent v71 v117)
  (adjacent v72 v73)
  (adjacent v72 v94)
  (adjacent v73 v74)
  (adjacent v73 v156)
  (adjacent v74 v75)
  (adjacent v74 v139)
  (adjacent v75 v76)
  (adjacent v75 v124)
  (adjacent v77 v78)
  (adjacent v77 v157)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v81 v87)
  (adjacent v81 v123)
  (adjacent v82 v83)
  (adjacent v85 v170)
  (adjacent v87 v88)
  (adjacent v88 v165)
  (adjacent v89 v90)
  (adjacent v89 v158)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v93 v126)
  (adjacent v95 v96)
  (adjacent v95 v119)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v130)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v106 v112)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v125)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v118 v138)
  (adjacent v119 v120)
  (adjacent v119 v165)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v151)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v127 v140)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v132 v139)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v134 v144)
  (adjacent v134 v148)
  (adjacent v134 v150)
  (adjacent v135 v136)
  (adjacent v137 v138)
  (adjacent v137 v164)
  (adjacent v140 v141)
  (adjacent v140 v167)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v146 v155)
  (adjacent v147 v148)
  (adjacent v147 v166)
  (adjacent v148 v157)
  (adjacent v149 v150)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v170 v171)
 )
 (:goal
  (and
  (at r75 v0)
  (at r84 v1)
  (at r30 v2)
  (free v3)
  (at r66 v4)
  (free v5)
  (at r134 v6)
  (at r88 v7)
  (at r78 v8)
  (at r124 v9)
  (at r161 v10)
  (at r164 v11)
  (at r22 v12)
  (at r110 v13)
  (at r38 v14)
  (at r53 v15)
  (at r65 v16)
  (at r21 v17)
  (at r24 v18)
  (at r163 v19)
  (at r61 v20)
  (at r62 v21)
  (at r85 v22)
  (at r94 v23)
  (free v24)
  (at r129 v25)
  (at r37 v26)
  (at r27 v27)
  (free v28)
  (at r120 v29)
  (at r105 v30)
  (at r102 v31)
  (at r114 v32)
  (free v33)
  (at r130 v34)
  (at r99 v35)
  (at r136 v36)
  (at r83 v37)
  (at r132 v38)
  (at r90 v39)
  (at r167 v40)
  (at r60 v41)
  (at r25 v42)
  (at r137 v43)
  (at r133 v44)
  (at r80 v45)
  (at r155 v46)
  (at r20 v47)
  (at r119 v48)
  (at r113 v49)
  (at r39 v50)
  (at r48 v51)
  (at r72 v52)
  (free v53)
  (at r111 v54)
  (at r73 v55)
  (at r171 v56)
  (at r153 v57)
  (at r46 v58)
  (at r166 v59)
  (at r31 v60)
  (at r87 v61)
  (at r33 v62)
  (at r54 v63)
  (at r146 v64)
  (free v65)
  (at r128 v66)
  (at r82 v67)
  (at r168 v68)
  (at r152 v69)
  (at r157 v70)
  (at r57 v71)
  (at r71 v72)
  (at r32 v73)
  (at r52 v74)
  (at r69 v75)
  (at r50 v76)
  (free v77)
  (at r97 v78)
  (at r93 v79)
  (at r118 v80)
  (at r77 v81)
  (at r79 v82)
  (at r19 v83)
  (at r160 v84)
  (at r112 v85)
  (at r126 v86)
  (at r42 v87)
  (at r51 v88)
  (free v89)
  (at r81 v90)
  (at r115 v91)
  (at r135 v92)
  (at r55 v93)
  (at r148 v94)
  (free v95)
  (at r149 v96)
  (at r125 v97)
  (at r109 v98)
  (at r29 v99)
  (at r35 v100)
  (at r145 v101)
  (at r107 v102)
  (at r34 v103)
  (free v104)
  (free v105)
  (free v106)
  (at r158 v107)
  (at r169 v108)
  (at r67 v109)
  (at r47 v110)
  (at r139 v111)
  (free v112)
  (at r123 v113)
  (at r96 v114)
  (at r76 v115)
  (at r131 v116)
  (at r147 v117)
  (at r116 v118)
  (at r63 v119)
  (at r170 v120)
  (at r140 v121)
  (at r138 v122)
  (at r40 v123)
  (at r58 v124)
  (at r23 v125)
  (at r100 v126)
  (at r156 v127)
  (at r108 v128)
  (at r28 v129)
  (at r121 v130)
  (at r18 v131)
  (at r68 v132)
  (at r101 v133)
  (at r70 v134)
  (at r162 v135)
  (at r44 v136)
  (at r159 v137)
  (at r165 v138)
  (at r56 v139)
  (at r143 v140)
  (at r127 v141)
  (at r104 v142)
  (at r144 v143)
  (free v144)
  (at r103 v145)
  (at r141 v146)
  (at r49 v147)
  (free v148)
  (at r106 v149)
  (at r142 v150)
  (at r151 v151)
  (free v152)
  (free v153)
  (at r98 v154)
  (at r45 v155)
  (at r89 v156)
  (at r74 v157)
  (at r64 v158)
  (at r43 v159)
  (at r91 v160)
  (at r122 v161)
  (at r26 v162)
  (at r154 v163)
  (at r86 v164)
  (at r36 v165)
  (at r41 v166)
  (at r117 v167)
  (at r150 v168)
  (at r92 v169)
  (at r95 v170)
  (at r59 v171)
  )
 )
)