(define (problem multirobot_51_10%_c9)
 (:domain multirobot)
 (:objects
  v0 r147
  v1 r151
  v2 r121
  v3 r46
  v4 r155
  v5 r134
  v6 r154
  v7 r37
  v8 r55
  v9 r19
  v10 r25
  v11 r128
  v12 r77
  v13 r109
  v14 r103
  v15 r166
  v16 r140
  v17 r51
  v18 r91
  v19 r45
  v20
  v21 r59
  v22 r64
  v23 r137
  v24 r156
  v25 r24
  v26 r105
  v27 r63
  v28
  v29 r149
  v30 r159
  v31 r124
  v32 r21
  v33 r158
  v34 r96
  v35 r61
  v36 r178
  v37 r153
  v38 r22
  v39 r182
  v40 r120
  v41 r172
  v42 r26
  v43 r123
  v44 r108
  v45 r177
  v46 r48
  v47 r53
  v48 r184
  v49 r72
  v50
  v51 r164
  v52 r171
  v53 r78
  v54 r163
  v55
  v56 r179
  v57 r113
  v58 r175
  v59 r47
  v60 r83
  v61 r174
  v62 r66
  v63 r41
  v64 r106
  v65 r68
  v66
  v67 r43
  v68 r111
  v69 r76
  v70
  v71 r139
  v72 r101
  v73 r65
  v74 r30
  v75 r29
  v76 r98
  v77 r176
  v78 r36
  v79 r56
  v80 r122
  v81 r130
  v82 r152
  v83
  v84 r69
  v85
  v86 r129
  v87 r100
  v88 r82
  v89 r133
  v90 r157
  v91 r62
  v92 r110
  v93
  v94
  v95 r115
  v96 r57
  v97 r90
  v98 r31
  v99 r181
  v100 r52
  v101 r60
  v102 r117
  v103 r126
  v104 r132
  v105 r138
  v106 r118
  v107 r116
  v108 r127
  v109 r23
  v110 r144
  v111 r17
  v112 r54
  v113 r92
  v114 r135
  v115 r73
  v116 r107
  v117 r34
  v118
  v119 r20
  v120 r119
  v121 r87
  v122 r141
  v123 r167
  v124 r35
  v125 r173
  v126 r112
  v127
  v128 r39
  v129 r131
  v130 r160
  v131 r80
  v132 r67
  v133 r40
  v134
  v135 r28
  v136 r27
  v137 r104
  v138 r93
  v139 r143
  v140 r180
  v141 r44
  v142 r161
  v143 r71
  v144 r58
  v145 r136
  v146 r102
  v147 r70
  v148 r79
  v149 r97
  v150 r114
  v151 r168
  v152 r150
  v153 r16
  v154 r148
  v155 r142
  v156
  v157 r85
  v158 r183
  v159 r81
  v160 r89
  v161 r170
  v162 r42
  v163 r125
  v164 r50
  v165 r88
  v166
  v167 r99
  v168 r38
  v169 r162
  v170 r32
  v171 r86
  v172 r185
  v173 r165
  v174 r146
  v175 r145
  v176 r84
  v177 r18
  v178 r95
  v179 r33
  v180 r169
  v181
  v182 r94
  v183 r49
  v184 r74
  v185 r75
 )
 (:init
  (at r147 v0)
  (at r151 v1)
  (at r121 v2)
  (at r46 v3)
  (at r155 v4)
  (at r134 v5)
  (at r154 v6)
  (at r37 v7)
  (at r55 v8)
  (at r19 v9)
  (at r25 v10)
  (at r128 v11)
  (at r77 v12)
  (at r109 v13)
  (at r103 v14)
  (at r166 v15)
  (at r140 v16)
  (at r51 v17)
  (at r91 v18)
  (at r45 v19)
  (free v20)
  (at r59 v21)
  (at r64 v22)
  (at r137 v23)
  (at r156 v24)
  (at r24 v25)
  (at r105 v26)
  (at r63 v27)
  (free v28)
  (at r149 v29)
  (at r159 v30)
  (at r124 v31)
  (at r21 v32)
  (at r158 v33)
  (at r96 v34)
  (at r61 v35)
  (at r178 v36)
  (at r153 v37)
  (at r22 v38)
  (at r182 v39)
  (at r120 v40)
  (at r172 v41)
  (at r26 v42)
  (at r123 v43)
  (at r108 v44)
  (at r177 v45)
  (at r48 v46)
  (at r53 v47)
  (at r184 v48)
  (at r72 v49)
  (free v50)
  (at r164 v51)
  (at r171 v52)
  (at r78 v53)
  (at r163 v54)
  (free v55)
  (at r179 v56)
  (at r113 v57)
  (at r175 v58)
  (at r47 v59)
  (at r83 v60)
  (at r174 v61)
  (at r66 v62)
  (at r41 v63)
  (at r106 v64)
  (at r68 v65)
  (free v66)
  (at r43 v67)
  (at r111 v68)
  (at r76 v69)
  (free v70)
  (at r139 v71)
  (at r101 v72)
  (at r65 v73)
  (at r30 v74)
  (at r29 v75)
  (at r98 v76)
  (at r176 v77)
  (at r36 v78)
  (at r56 v79)
  (at r122 v80)
  (at r130 v81)
  (at r152 v82)
  (free v83)
  (at r69 v84)
  (free v85)
  (at r129 v86)
  (at r100 v87)
  (at r82 v88)
  (at r133 v89)
  (at r157 v90)
  (at r62 v91)
  (at r110 v92)
  (free v93)
  (free v94)
  (at r115 v95)
  (at r57 v96)
  (at r90 v97)
  (at r31 v98)
  (at r181 v99)
  (at r52 v100)
  (at r60 v101)
  (at r117 v102)
  (at r126 v103)
  (at r132 v104)
  (at r138 v105)
  (at r118 v106)
  (at r116 v107)
  (at r127 v108)
  (at r23 v109)
  (at r144 v110)
  (at r17 v111)
  (at r54 v112)
  (at r92 v113)
  (at r135 v114)
  (at r73 v115)
  (at r107 v116)
  (at r34 v117)
  (free v118)
  (at r20 v119)
  (at r119 v120)
  (at r87 v121)
  (at r141 v122)
  (at r167 v123)
  (at r35 v124)
  (at r173 v125)
  (at r112 v126)
  (free v127)
  (at r39 v128)
  (at r131 v129)
  (at r160 v130)
  (at r80 v131)
  (at r67 v132)
  (at r40 v133)
  (free v134)
  (at r28 v135)
  (at r27 v136)
  (at r104 v137)
  (at r93 v138)
  (at r143 v139)
  (at r180 v140)
  (at r44 v141)
  (at r161 v142)
  (at r71 v143)
  (at r58 v144)
  (at r136 v145)
  (at r102 v146)
  (at r70 v147)
  (at r79 v148)
  (at r97 v149)
  (at r114 v150)
  (at r168 v151)
  (at r150 v152)
  (at r16 v153)
  (at r148 v154)
  (at r142 v155)
  (free v156)
  (at r85 v157)
  (at r183 v158)
  (at r81 v159)
  (at r89 v160)
  (at r170 v161)
  (at r42 v162)
  (at r125 v163)
  (at r50 v164)
  (at r88 v165)
  (free v166)
  (at r99 v167)
  (at r38 v168)
  (at r162 v169)
  (at r32 v170)
  (at r86 v171)
  (at r185 v172)
  (at r165 v173)
  (at r146 v174)
  (at r145 v175)
  (at r84 v176)
  (at r18 v177)
  (at r95 v178)
  (at r33 v179)
  (at r169 v180)
  (free v181)
  (at r94 v182)
  (at r49 v183)
  (at r74 v184)
  (at r75 v185)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v17)
  (adjacent v0 v30)
  (adjacent v1 v2)
  (adjacent v1 v9)
  (adjacent v1 v64)
  (adjacent v1 v124)
  (adjacent v2 v3)
  (adjacent v2 v18)
  (adjacent v2 v123)
  (adjacent v3 v4)
  (adjacent v3 v10)
  (adjacent v3 v24)
  (adjacent v5 v6)
  (adjacent v5 v11)
  (adjacent v5 v21)
  (adjacent v5 v125)
  (adjacent v5 v146)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v153)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v35)
  (adjacent v9 v52)
  (adjacent v9 v185)
  (adjacent v10 v22)
  (adjacent v11 v12)
  (adjacent v11 v40)
  (adjacent v11 v89)
  (adjacent v11 v104)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v44)
  (adjacent v14 v15)
  (adjacent v14 v23)
  (adjacent v15 v16)
  (adjacent v15 v31)
  (adjacent v15 v50)
  (adjacent v16 v17)
  (adjacent v18 v19)
  (adjacent v18 v32)
  (adjacent v19 v20)
  (adjacent v19 v29)
  (adjacent v19 v105)
  (adjacent v20 v21)
  (adjacent v20 v57)
  (adjacent v21 v46)
  (adjacent v21 v84)
  (adjacent v22 v23)
  (adjacent v22 v160)
  (adjacent v23 v34)
  (adjacent v24 v25)
  (adjacent v24 v67)
  (adjacent v24 v173)
  (adjacent v25 v26)
  (adjacent v25 v54)
  (adjacent v26 v27)
  (adjacent v26 v55)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v29 v66)
  (adjacent v30 v31)
  (adjacent v30 v74)
  (adjacent v31 v45)
  (adjacent v31 v73)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v39)
  (adjacent v34 v45)
  (adjacent v34 v112)
  (adjacent v34 v161)
  (adjacent v35 v36)
  (adjacent v35 v90)
  (adjacent v36 v37)
  (adjacent v36 v66)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v174)
  (adjacent v39 v176)
  (adjacent v40 v41)
  (adjacent v40 v75)
  (adjacent v41 v42)
  (adjacent v41 v51)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v65)
  (adjacent v45 v49)
  (adjacent v45 v63)
  (adjacent v46 v47)
  (adjacent v46 v58)
  (adjacent v46 v182)
  (adjacent v47 v48)
  (adjacent v47 v90)
  (adjacent v48 v49)
  (adjacent v48 v86)
  (adjacent v48 v122)
  (adjacent v48 v147)
  (adjacent v49 v134)
  (adjacent v50 v51)
  (adjacent v52 v53)
  (adjacent v52 v78)
  (adjacent v52 v79)
  (adjacent v52 v93)
  (adjacent v53 v54)
  (adjacent v54 v64)
  (adjacent v54 v65)
  (adjacent v54 v85)
  (adjacent v55 v56)
  (adjacent v55 v105)
  (adjacent v56 v57)
  (adjacent v58 v59)
  (adjacent v58 v130)
  (adjacent v58 v172)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v74)
  (adjacent v65 v83)
  (adjacent v65 v106)
  (adjacent v66 v92)
  (adjacent v66 v120)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v140)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v74 v121)
  (adjacent v75 v76)
  (adjacent v75 v119)
  (adjacent v76 v77)
  (adjacent v76 v183)
  (adjacent v77 v78)
  (adjacent v77 v98)
  (adjacent v77 v167)
  (adjacent v78 v91)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v180)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v87 v154)
  (adjacent v88 v89)
  (adjacent v91 v92)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v113)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v97 v99)
  (adjacent v99 v100)
  (adjacent v99 v175)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v101 v124)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v103 v163)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v108 v123)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v111 v131)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v115 v120)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v118 v139)
  (adjacent v119 v135)
  (adjacent v119 v184)
  (adjacent v121 v122)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v128 v164)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v151 v179)
  (adjacent v152 v153)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v158 v168)
  (adjacent v159 v160)
  (adjacent v160 v175)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v173 v174)
  (adjacent v175 v183)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v180 v181)
  (adjacent v181 v182)
  (adjacent v184 v185)
 )
 (:goal
  (and
  (at r111 v0)
  (free v1)
  (at r20 v2)
  (at r161 v3)
  (at r23 v4)
  (at r127 v5)
  (at r31 v6)
  (at r45 v7)
  (at r61 v8)
  (at r170 v9)
  (free v10)
  (at r132 v11)
  (at r104 v12)
  (at r178 v13)
  (at r130 v14)
  (at r165 v15)
  (at r158 v16)
  (at r107 v17)
  (at r150 v18)
  (at r123 v19)
  (at r106 v20)
  (at r57 v21)
  (at r153 v22)
  (at r49 v23)
  (at r131 v24)
  (at r75 v25)
  (at r50 v26)
  (at r176 v27)
  (at r55 v28)
  (at r98 v29)
  (at r184 v30)
  (at r174 v31)
  (free v32)
  (at r109 v33)
  (at r151 v34)
  (at r171 v35)
  (at r162 v36)
  (at r146 v37)
  (at r72 v38)
  (at r181 v39)
  (at r26 v40)
  (at r128 v41)
  (at r180 v42)
  (free v43)
  (at r110 v44)
  (at r17 v45)
  (at r149 v46)
  (at r16 v47)
  (at r114 v48)
  (free v49)
  (at r144 v50)
  (at r43 v51)
  (at r56 v52)
  (at r67 v53)
  (at r27 v54)
  (at r83 v55)
  (at r99 v56)
  (at r185 v57)
  (at r36 v58)
  (at r100 v59)
  (at r44 v60)
  (free v61)
  (at r39 v62)
  (at r51 v63)
  (at r102 v64)
  (at r159 v65)
  (at r70 v66)
  (at r179 v67)
  (at r117 v68)
  (at r142 v69)
  (at r175 v70)
  (at r22 v71)
  (at r41 v72)
  (at r54 v73)
  (at r59 v74)
  (at r89 v75)
  (free v76)
  (at r118 v77)
  (at r137 v78)
  (at r163 v79)
  (at r19 v80)
  (at r156 v81)
  (at r24 v82)
  (at r154 v83)
  (at r136 v84)
  (at r94 v85)
  (at r103 v86)
  (at r119 v87)
  (at r160 v88)
  (at r73 v89)
  (at r66 v90)
  (at r167 v91)
  (at r32 v92)
  (at r122 v93)
  (at r62 v94)
  (at r18 v95)
  (free v96)
  (at r80 v97)
  (at r147 v98)
  (at r53 v99)
  (at r138 v100)
  (at r63 v101)
  (at r69 v102)
  (at r92 v103)
  (at r25 v104)
  (at r182 v105)
  (at r108 v106)
  (at r68 v107)
  (at r81 v108)
  (at r95 v109)
  (at r84 v110)
  (at r37 v111)
  (at r133 v112)
  (at r140 v113)
  (at r91 v114)
  (at r125 v115)
  (free v116)
  (at r30 v117)
  (at r29 v118)
  (free v119)
  (at r87 v120)
  (at r105 v121)
  (at r97 v122)
  (at r177 v123)
  (at r173 v124)
  (at r33 v125)
  (at r155 v126)
  (at r101 v127)
  (at r52 v128)
  (at r86 v129)
  (free v130)
  (at r77 v131)
  (at r143 v132)
  (at r166 v133)
  (at r82 v134)
  (at r21 v135)
  (at r42 v136)
  (at r96 v137)
  (at r116 v138)
  (at r145 v139)
  (at r134 v140)
  (at r34 v141)
  (at r40 v142)
  (at r58 v143)
  (free v144)
  (free v145)
  (at r85 v146)
  (at r168 v147)
  (free v148)
  (at r121 v149)
  (at r46 v150)
  (at r88 v151)
  (at r64 v152)
  (at r93 v153)
  (at r139 v154)
  (at r152 v155)
  (at r113 v156)
  (free v157)
  (at r38 v158)
  (at r169 v159)
  (at r48 v160)
  (at r112 v161)
  (at r126 v162)
  (at r90 v163)
  (at r76 v164)
  (at r74 v165)
  (at r120 v166)
  (at r35 v167)
  (at r129 v168)
  (at r78 v169)
  (at r141 v170)
  (free v171)
  (at r28 v172)
  (at r47 v173)
  (at r124 v174)
  (at r164 v175)
  (at r183 v176)
  (at r65 v177)
  (at r115 v178)
  (at r71 v179)
  (at r79 v180)
  (at r148 v181)
  (at r172 v182)
  (at r157 v183)
  (at r60 v184)
  (at r135 v185)
  )
 )
)