(define (problem multirobot_50_10%_c1) (:domain multirobot) (:objects v0 r172 v1 r142 v2 v3 r117 v4 v5 r91 v6 r144 v7 r90 v8 r122 v9 r147 v10 r150 v11 r129 v12 r70 v13 r92 v14 r112 v15 r149 v16 r25 v17 r173 v18 r35 v19 v20 r107 v21 r71 v22 v23 r119 v24 r194 v25 r195 v26 r108 v27 r74 v28 r41 v29 v30 r45 v31 r53 v32 r55 v33 r58 v34 r99 v35 r66 v36 r60 v37 r159 v38 r115 v39 v40 r57 v41 r161 v42 r46 v43 r34 v44 r75 v45 r37 v46 r68 v47 r132 v48 r49 v49 r197 v50 r28 v51 r30 v52 r113 v53 r111 v54 r63 v55 r20 v56 r168 v57 r167 v58 r27 v59 r124 v60 v61 r187 v62 r165 v63 r154 v64 r139 v65 r196 v66 r135 v67 r152 v68 r176 v69 r102 v70 r171 v71 v72 r76 v73 r183 v74 r109 v75 r158 v76 r118 v77 r155 v78 r29 v79 r170 v80 r81 v81 r93 v82 r89 v83 r190 v84 r94 v85 r145 v86 r84 v87 r169 v88 r181 v89 r97 v90 r192 v91 r131 v92 v93 v94 r39 v95 r31 v96 r104 v97 r59 v98 r137 v99 r65 v100 r62 v101 r191 v102 r184 v103 r88 v104 r51 v105 r50 v106 r86 v107 r101 v108 r42 v109 r138 v110 r48 v111 r95 v112 r162 v113 r128 v114 r61 v115 r56 v116 r64 v117 r126 v118 r26 v119 r106 v120 r134 v121 r153 v122 r100 v123 r114 v124 r123 v125 r186 v126 r193 v127 r188 v128 v129 v130 r69 v131 r73 v132 r179 v133 r77 v134 v135 r140 v136 r33 v137 r180 v138 r121 v139 r44 v140 r52 v141 r80 v142 v143 r177 v144 r72 v145 r151 v146 r160 v147 r141 v148 r98 v149 r175 v150 v151 v152 r116 v153 r110 v154 r163 v155 r148 v156 r82 v157 r22 v158 r185 v159 r174 v160 r21 v161 r78 v162 r18 v163 r19 v164 r156 v165 r83 v166 r43 v167 r164 v168 r79 v169 r40 v170 r166 v171 r96 v172 r23 v173 r178 v174 r146 v175 r182 v176 r143 v177 r133 v178 r136 v179 r125 v180 r24 v181 r54 v182 r189 v183 r103 v184 r105 v185 v186 v187 r130 v188 r120 v189 r87 v190 r32 v191 r85 v192 r127 v193 r67 v194 r47 v195 r157 v196 r36 v197 r38 ) (:init (at r172 v0) (at r142 v1) (free v2) (at r117 v3) (free v4) (at r91 v5) (at r144 v6) (at r90 v7) (at r122 v8) (at r147 v9) (at r150 v10) (at r129 v11) (at r70 v12) (at r92 v13) (at r112 v14) (at r149 v15) (at r25 v16) (at r173 v17) (at r35 v18) (free v19) (at r107 v20) (at r71 v21) (free v22) (at r119 v23) (at r194 v24) (at r195 v25) (at r108 v26) (at r74 v27) (at r41 v28) (free v29) (at r45 v30) (at r53 v31) (at r55 v32) (at r58 v33) (at r99 v34) (at r66 v35) (at r60 v36) (at r159 v37) (at r115 v38) (free v39) (at r57 v40) (at r161 v41) (at r46 v42) (at r34 v43) (at r75 v44) (at r37 v45) (at r68 v46) (at r132 v47) (at r49 v48) (at r197 v49) (at r28 v50) (at r30 v51) (at r113 v52) (at r111 v53) (at r63 v54) (at r20 v55) (at r168 v56) (at r167 v57) (at r27 v58) (at r124 v59) (free v60) (at r187 v61) (at r165 v62) (at r154 v63) (at r139 v64) (at r196 v65) (at r135 v66) (at r152 v67) (at r176 v68) (at r102 v69) (at r171 v70) (free v71) (at r76 v72) (at r183 v73) (at r109 v74) (at r158 v75) (at r118 v76) (at r155 v77) (at r29 v78) (at r170 v79) (at r81 v80) (at r93 v81) (at r89 v82) (at r190 v83) (at r94 v84) (at r145 v85) (at r84 v86) (at r169 v87) (at r181 v88) (at r97 v89) (at r192 v90) (at r131 v91) (free v92) (free v93) (at r39 v94) (at r31 v95) (at r104 v96) (at r59 v97) (at r137 v98) (at r65 v99) (at r62 v100) (at r191 v101) (at r184 v102) (at r88 v103) (at r51 v104) (at r50 v105) (at r86 v106) (at r101 v107) (at r42 v108) (at r138 v109) (at r48 v110) (at r95 v111) (at r162 v112) (at r128 v113) (at r61 v114) (at r56 v115) (at r64 v116) (at r126 v117) (at r26 v118) (at r106 v119) (at r134 v120) (at r153 v121) (at r100 v122) (at r114 v123) (at r123 v124) (at r186 v125) (at r193 v126) (at r188 v127) (free v128) (free v129) (at r69 v130) (at r73 v131) (at r179 v132) (at r77 v133) (free v134) (at r140 v135) (at r33 v136) (at r180 v137) (at r121 v138) (at r44 v139) (at r52 v140) (at r80 v141) (free v142) (at r177 v143) (at r72 v144) (at r151 v145) (at r160 v146) (at r141 v147) (at r98 v148) (at r175 v149) (free v150) (free v151) (at r116 v152) (at r110 v153) (at r163 v154) (at r148 v155) (at r82 v156) (at r22 v157) (at r185 v158) (at r174 v159) (at r21 v160) (at r78 v161) (at r18 v162) (at r19 v163) (at r156 v164) (at r83 v165) (at r43 v166) (at r164 v167) (at r79 v168) (at r40 v169) (at r166 v170) (at r96 v171) (at r23 v172) (at r178 v173) (at r146 v174) (at r182 v175) (at r143 v176) (at r133 v177) (at r136 v178) (at r125 v179) (at r24 v180) (at r54 v181) (at r189 v182) (at r103 v183) (at r105 v184) (free v185) (free v186) (at r130 v187) (at r120 v188) (at r87 v189) (at r32 v190) (at r85 v191) (at r127 v192) (at r67 v193) (at r47 v194) (at r157 v195) (at r36 v196) (at r38 v197) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v18) (adjacent v0 v93) (adjacent v1 v2) (adjacent v1 v58) (adjacent v2 v3) (adjacent v2 v5) (adjacent v2 v59) (adjacent v3 v4) (adjacent v3 v13) (adjacent v3 v14) (adjacent v3 v25) (adjacent v4 v7) (adjacent v4 v70) (adjacent v5 v6) (adjacent v5 v120) (adjacent v6 v7) (adjacent v6 v8) (adjacent v6 v32) (adjacent v6 v44) (adjacent v7 v33) (adjacent v7 v130) (adjacent v8 v9) (adjacent v8 v18) (adjacent v9 v10) (adjacent v9 v17) (adjacent v9 v75) (adjacent v10 v11) (adjacent v10 v45) (adjacent v10 v103) (adjacent v10 v120) (adjacent v11 v12) (adjacent v11 v73) (adjacent v11 v88) (adjacent v11 v162) (adjacent v12 v13) (adjacent v13 v64) (adjacent v14 v15) (adjacent v14 v19) (adjacent v14 v59) (adjacent v15 v16) (adjacent v15 v65) (adjacent v15 v80) (adjacent v15 v168) (adjacent v16 v17) (adjacent v19 v20) (adjacent v19 v72) (adjacent v20 v21) (adjacent v21 v22) (adjacent v21 v60) (adjacent v22 v23) (adjacent v22 v26) (adjacent v23 v24) (adjacent v23 v158) (adjacent v24 v25) (adjacent v26 v27) (adjacent v27 v28) (adjacent v27 v37) (adjacent v27 v53) (adjacent v28 v29) (adjacent v29 v30) (adjacent v29 v113) (adjacent v30 v31) (adjacent v30 v124) (adjacent v31 v32) (adjacent v33 v34) (adjacent v33 v50) (adjacent v34 v35) (adjacent v34 v54) (adjacent v34 v100) (adjacent v34 v163) (adjacent v35 v36) (adjacent v35 v52) (adjacent v35 v154) (adjacent v36 v37) (adjacent v36 v192) (adjacent v37 v38) (adjacent v38 v39) (adjacent v39 v40) (adjacent v39 v74) (adjacent v39 v132) (adjacent v40 v41) (adjacent v41 v42) (adjacent v41 v51) (adjacent v42 v43) (adjacent v43 v44) (adjacent v45 v46) (adjacent v45 v193) (adjacent v46 v47) (adjacent v47 v48) (adjacent v47 v51) (adjacent v47 v71) (adjacent v47 v99) (adjacent v47 v161) (adjacent v47 v186) (adjacent v48 v49) (adjacent v48 v106) (adjacent v49 v50) (adjacent v52 v53) (adjacent v54 v55) (adjacent v55 v56) (adjacent v56 v57) (adjacent v56 v87) (adjacent v57 v58) (adjacent v58 v187) (adjacent v60 v61) (adjacent v61 v62) (adjacent v62 v63) (adjacent v62 v131) (adjacent v63 v64) (adjacent v63 v174) (adjacent v64 v169) (adjacent v64 v183) (adjacent v65 v66) (adjacent v65 v175) (adjacent v66 v67) (adjacent v67 v68) (adjacent v68 v69) (adjacent v69 v70) (adjacent v69 v135) (adjacent v70 v94) (adjacent v70 v100) (adjacent v70 v144) (adjacent v71 v72) (adjacent v71 v123) (adjacent v72 v157) (adjacent v73 v74) (adjacent v74 v129) (adjacent v74 v148) (adjacent v75 v76) (adjacent v75 v81) (adjacent v76 v77) (adjacent v77 v78) (adjacent v77 v119) (adjacent v77 v138) (adjacent v78 v79) (adjacent v79 v80) (adjacent v81 v82) (adjacent v81 v175) (adjacent v82 v83) (adjacent v83 v84) (adjacent v83 v141) (adjacent v84 v85) (adjacent v84 v104) (adjacent v85 v86) (adjacent v86 v87) (adjacent v86 v88) (adjacent v86 v114) (adjacent v88 v89) (adjacent v88 v105) (adjacent v89 v90) (adjacent v89 v139) (adjacent v90 v91) (adjacent v91 v92) (adjacent v92 v93) (adjacent v94 v95) (adjacent v95 v96) (adjacent v95 v101) (adjacent v96 v97) (adjacent v96 v107) (adjacent v96 v134) (adjacent v97 v98) (adjacent v98 v99) (adjacent v99 v106) (adjacent v99 v182) (adjacent v101 v102) (adjacent v102 v103) (adjacent v104 v105) (adjacent v107 v108) (adjacent v108 v109) (adjacent v108 v153) (adjacent v109 v110) (adjacent v109 v162) (adjacent v110 v111) (adjacent v111 v112) (adjacent v112 v113) (adjacent v114 v115) (adjacent v115 v116) (adjacent v116 v117) (adjacent v116 v143) (adjacent v117 v118) (adjacent v117 v121) (adjacent v117 v139) (adjacent v118 v119) (adjacent v118 v131) (adjacent v118 v140) (adjacent v119 v128) (adjacent v121 v122) (adjacent v121 v140) (adjacent v122 v123) (adjacent v124 v125) (adjacent v125 v126) (adjacent v126 v127) (adjacent v127 v128) (adjacent v129 v130) (adjacent v132 v133) (adjacent v133 v134) (adjacent v135 v136) (adjacent v136 v137) (adjacent v137 v138) (adjacent v140 v149) (adjacent v141 v142) (adjacent v142 v143) (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 v154 v155) (adjacent v155 v156) (adjacent v156 v157) (adjacent v157 v197) (adjacent v158 v159) (adjacent v159 v160) (adjacent v160 v161) (adjacent v163 v164) (adjacent v164 v165) (adjacent v165 v166) (adjacent v166 v167) (adjacent v167 v168) (adjacent v169 v170) (adjacent v170 v171) (adjacent v170 v176) (adjacent v171 v172) (adjacent v172 v173) (adjacent v173 v174) (adjacent v176 v177) (adjacent v177 v178) (adjacent v178 v179) (adjacent v179 v180) (adjacent v180 v181) (adjacent v181 v182) (adjacent v183 v184) (adjacent v184 v185) (adjacent v185 v186) (adjacent v187 v188) (adjacent v188 v189) (adjacent v189 v190) (adjacent v190 v191) (adjacent v191 v192) (adjacent v193 v194) (adjacent v194 v195) (adjacent v195 v196) (adjacent v196 v197) ) (:goal (and (at r88 v0) (at r134 v1) (at r53 v2) (at r65 v3) (at r29 v4) (free v5) (at r175 v6) (at r70 v7) (at r52 v8) (at r50 v9) (at r42 v10) (at r72 v11) (at r108 v12) (at r163 v13) (at r167 v14) (free v15) (at r185 v16) (at r21 v17) (at r80 v18) (at r107 v19) (at r151 v20) (at r58 v21) (free v22) (at r130 v23) (at r103 v24) (at r26 v25) (at r177 v26) (at r160 v27) (at r109 v28) (at r54 v29) (free v30) (free v31) (at r120 v32) (at r129 v33) (at r182 v34) (at r64 v35) (at r92 v36) (at r97 v37) (at r28 v38) (at r87 v39) (at r106 v40) (at r189 v41) (at r115 v42) (at r165 v43) (at r136 v44) (at r117 v45) (at r98 v46) (at r20 v47) (at r170 v48) (at r82 v49) (at r19 v50) (at r127 v51) (at r110 v52) (at r138 v53) (at r76 v54) (at r23 v55) (at r102 v56) (at r84 v57) (at r131 v58) (at r156 v59) (at r40 v60) (at r96 v61) (at r135 v62) (at r114 v63) (at r38 v64) (at r152 v65) (at r49 v66) (at r41 v67) (at r147 v68) (at r112 v69) (at r66 v70) (at r113 v71) (at r55 v72) (at r176 v73) (at r51 v74) (at r148 v75) (at r101 v76) (at r133 v77) (at r46 v78) (free v79) (at r122 v80) (free v81) (at r79 v82) (at r85 v83) (at r68 v84) (at r124 v85) (at r123 v86) (at r190 v87) (at r157 v88) (at r44 v89) (free v90) (at r95 v91) (at r22 v92) (at r75 v93) (at r90 v94) (at r194 v95) (free v96) (at r196 v97) (at r86 v98) (at r145 v99) (at r37 v100) (free v101) (at r128 v102) (at r25 v103) (at r47 v104) (at r36 v105) (at r27 v106) (at r191 v107) (at r105 v108) (at r30 v109) (at r81 v110) (at r34 v111) (at r197 v112) (at r125 v113) (at r184 v114) (at r111 v115) (at r73 v116) (at r164 v117) (at r168 v118) (at r159 v119) (at r186 v120) (at r43 v121) (at r155 v122) (at r119 v123) (at r140 v124) (at r33 v125) (at r77 v126) (at r116 v127) (at r193 v128) (at r67 v129) (at r74 v130) (at r154 v131) (at r181 v132) (at r24 v133) (at r62 v134) (at r18 v135) (at r158 v136) (at r162 v137) (at r183 v138) (at r61 v139) (at r172 v140) (at r93 v141) (at r83 v142) (at r173 v143) (at r161 v144) (at r60 v145) (at r169 v146) (at r132 v147) (at r45 v148) (at r179 v149) (at r143 v150) (at r100 v151) (at r150 v152) (at r142 v153) (at r56 v154) (at r178 v155) (free v156) (at r69 v157) (at r188 v158) (at r180 v159) (free v160) (at r35 v161) (at r139 v162) (at r31 v163) (at r78 v164) (at r89 v165) (at r171 v166) (at r137 v167) (free v168) (at r192 v169) (at r187 v170) (at r39 v171) (free v172) (free v173) (at r174 v174) (at r126 v175) (at r195 v176) (at r104 v177) (at r166 v178) (at r118 v179) (at r121 v180) (free v181) (at r144 v182) (at r32 v183) (free v184) (at r91 v185) (at r57 v186) (at r63 v187) (at r146 v188) (at r71 v189) (at r149 v190) (free v191) (at r99 v192) (at r153 v193) (at r48 v194) (at r141 v195) (at r94 v196) (at r59 v197) ) ) )