(define (problem multirobot_52_10%_c3)
 (:domain multirobot)
 (:objects
  v0 r116
  v1 r89
  v2 r44
  v3 r142
  v4 r113
  v5
  v6 r180
  v7 r21
  v8
  v9 r22
  v10 r169
  v11 r159
  v12 r91
  v13 r168
  v14 r69
  v15 r109
  v16 r99
  v17 r133
  v18 r153
  v19 r23
  v20 r114
  v21 r149
  v22 r166
  v23 r107
  v24 r35
  v25 r25
  v26 r125
  v27 r172
  v28 r84
  v29 r45
  v30 r160
  v31 r29
  v32 r72
  v33 r145
  v34 r143
  v35 r56
  v36 r101
  v37 r24
  v38 r120
  v39 r173
  v40 r118
  v41 r98
  v42
  v43 r131
  v44 r171
  v45 r32
  v46 r183
  v47 r92
  v48 r90
  v49 r59
  v50 r55
  v51 r85
  v52
  v53 r106
  v54 r137
  v55 r163
  v56 r115
  v57
  v58
  v59 r67
  v60 r179
  v61 r112
  v62 r79
  v63
  v64 r64
  v65 r50
  v66 r127
  v67 r80
  v68 r167
  v69 r162
  v70 r37
  v71
  v72 r134
  v73 r175
  v74 r130
  v75 r151
  v76 r81
  v77 r46
  v78 r48
  v79 r170
  v80 r68
  v81 r186
  v82 r86
  v83
  v84 r36
  v85 r177
  v86 r136
  v87 r161
  v88 r155
  v89 r165
  v90 r124
  v91 r126
  v92 r26
  v93
  v94 r129
  v95 r63
  v96 r119
  v97 r39
  v98 r49
  v99
  v100 r65
  v101 r111
  v102 r140
  v103 r82
  v104 r30
  v105 r87
  v106 r27
  v107
  v108 r187
  v109 r117
  v110 r93
  v111 r58
  v112 r148
  v113 r190
  v114 r95
  v115 r52
  v116 r138
  v117
  v118 r28
  v119 r88
  v120 r75
  v121 r97
  v122 r156
  v123 r154
  v124 r60
  v125 r31
  v126 r122
  v127
  v128 r178
  v129 r43
  v130 r185
  v131 r176
  v132 r144
  v133 r78
  v134 r105
  v135 r104
  v136 r152
  v137 r94
  v138 r70
  v139 r150
  v140 r184
  v141 r139
  v142 r110
  v143 r146
  v144 r53
  v145 r128
  v146 r57
  v147 r182
  v148 r61
  v149 r73
  v150 r141
  v151 r66
  v152 r157
  v153 r76
  v154 r42
  v155 r123
  v156 r41
  v157
  v158 r102
  v159
  v160 r188
  v161 r189
  v162 r20
  v163 r164
  v164 r40
  v165
  v166 r158
  v167
  v168 r77
  v169 r83
  v170 r132
  v171 r100
  v172 r96
  v173
  v174
  v175 r147
  v176 r47
  v177 r103
  v178 r135
  v179 r108
  v180 r71
  v181 r174
  v182 r51
  v183 r181
  v184 r121
  v185 r33
  v186 r38
  v187 r34
  v188 r54
  v189 r74
  v190 r62
 )
 (:init
  (at r116 v0)
  (at r89 v1)
  (at r44 v2)
  (at r142 v3)
  (at r113 v4)
  (free v5)
  (at r180 v6)
  (at r21 v7)
  (free v8)
  (at r22 v9)
  (at r169 v10)
  (at r159 v11)
  (at r91 v12)
  (at r168 v13)
  (at r69 v14)
  (at r109 v15)
  (at r99 v16)
  (at r133 v17)
  (at r153 v18)
  (at r23 v19)
  (at r114 v20)
  (at r149 v21)
  (at r166 v22)
  (at r107 v23)
  (at r35 v24)
  (at r25 v25)
  (at r125 v26)
  (at r172 v27)
  (at r84 v28)
  (at r45 v29)
  (at r160 v30)
  (at r29 v31)
  (at r72 v32)
  (at r145 v33)
  (at r143 v34)
  (at r56 v35)
  (at r101 v36)
  (at r24 v37)
  (at r120 v38)
  (at r173 v39)
  (at r118 v40)
  (at r98 v41)
  (free v42)
  (at r131 v43)
  (at r171 v44)
  (at r32 v45)
  (at r183 v46)
  (at r92 v47)
  (at r90 v48)
  (at r59 v49)
  (at r55 v50)
  (at r85 v51)
  (free v52)
  (at r106 v53)
  (at r137 v54)
  (at r163 v55)
  (at r115 v56)
  (free v57)
  (free v58)
  (at r67 v59)
  (at r179 v60)
  (at r112 v61)
  (at r79 v62)
  (free v63)
  (at r64 v64)
  (at r50 v65)
  (at r127 v66)
  (at r80 v67)
  (at r167 v68)
  (at r162 v69)
  (at r37 v70)
  (free v71)
  (at r134 v72)
  (at r175 v73)
  (at r130 v74)
  (at r151 v75)
  (at r81 v76)
  (at r46 v77)
  (at r48 v78)
  (at r170 v79)
  (at r68 v80)
  (at r186 v81)
  (at r86 v82)
  (free v83)
  (at r36 v84)
  (at r177 v85)
  (at r136 v86)
  (at r161 v87)
  (at r155 v88)
  (at r165 v89)
  (at r124 v90)
  (at r126 v91)
  (at r26 v92)
  (free v93)
  (at r129 v94)
  (at r63 v95)
  (at r119 v96)
  (at r39 v97)
  (at r49 v98)
  (free v99)
  (at r65 v100)
  (at r111 v101)
  (at r140 v102)
  (at r82 v103)
  (at r30 v104)
  (at r87 v105)
  (at r27 v106)
  (free v107)
  (at r187 v108)
  (at r117 v109)
  (at r93 v110)
  (at r58 v111)
  (at r148 v112)
  (at r190 v113)
  (at r95 v114)
  (at r52 v115)
  (at r138 v116)
  (free v117)
  (at r28 v118)
  (at r88 v119)
  (at r75 v120)
  (at r97 v121)
  (at r156 v122)
  (at r154 v123)
  (at r60 v124)
  (at r31 v125)
  (at r122 v126)
  (free v127)
  (at r178 v128)
  (at r43 v129)
  (at r185 v130)
  (at r176 v131)
  (at r144 v132)
  (at r78 v133)
  (at r105 v134)
  (at r104 v135)
  (at r152 v136)
  (at r94 v137)
  (at r70 v138)
  (at r150 v139)
  (at r184 v140)
  (at r139 v141)
  (at r110 v142)
  (at r146 v143)
  (at r53 v144)
  (at r128 v145)
  (at r57 v146)
  (at r182 v147)
  (at r61 v148)
  (at r73 v149)
  (at r141 v150)
  (at r66 v151)
  (at r157 v152)
  (at r76 v153)
  (at r42 v154)
  (at r123 v155)
  (at r41 v156)
  (free v157)
  (at r102 v158)
  (free v159)
  (at r188 v160)
  (at r189 v161)
  (at r20 v162)
  (at r164 v163)
  (at r40 v164)
  (free v165)
  (at r158 v166)
  (free v167)
  (at r77 v168)
  (at r83 v169)
  (at r132 v170)
  (at r100 v171)
  (at r96 v172)
  (free v173)
  (free v174)
  (at r147 v175)
  (at r47 v176)
  (at r103 v177)
  (at r135 v178)
  (at r108 v179)
  (at r71 v180)
  (at r174 v181)
  (at r51 v182)
  (at r181 v183)
  (at r121 v184)
  (at r33 v185)
  (at r38 v186)
  (at r34 v187)
  (at r54 v188)
  (at r74 v189)
  (at r62 v190)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v7)
  (adjacent v1 v81)
  (adjacent v2 v3)
  (adjacent v2 v30)
  (adjacent v3 v4)
  (adjacent v4 v6)
  (adjacent v4 v7)
  (adjacent v4 v133)
  (adjacent v4 v170)
  (adjacent v5 v6)
  (adjacent v5 v10)
  (adjacent v5 v11)
  (adjacent v6 v15)
  (adjacent v6 v34)
  (adjacent v6 v141)
  (adjacent v7 v8)
  (adjacent v7 v146)
  (adjacent v8 v9)
  (adjacent v8 v20)
  (adjacent v8 v22)
  (adjacent v8 v56)
  (adjacent v8 v112)
  (adjacent v9 v10)
  (adjacent v9 v16)
  (adjacent v9 v134)
  (adjacent v9 v154)
  (adjacent v10 v19)
  (adjacent v11 v12)
  (adjacent v11 v88)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v94)
  (adjacent v14 v15)
  (adjacent v14 v27)
  (adjacent v14 v73)
  (adjacent v15 v33)
  (adjacent v15 v34)
  (adjacent v15 v42)
  (adjacent v15 v72)
  (adjacent v15 v93)
  (adjacent v15 v105)
  (adjacent v16 v17)
  (adjacent v16 v28)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v19 v21)
  (adjacent v19 v87)
  (adjacent v19 v177)
  (adjacent v20 v21)
  (adjacent v21 v104)
  (adjacent v22 v23)
  (adjacent v22 v55)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v36)
  (adjacent v25 v48)
  (adjacent v25 v85)
  (adjacent v26 v27)
  (adjacent v26 v41)
  (adjacent v27 v35)
  (adjacent v27 v116)
  (adjacent v28 v29)
  (adjacent v28 v31)
  (adjacent v29 v30)
  (adjacent v29 v160)
  (adjacent v30 v49)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v37)
  (adjacent v34 v61)
  (adjacent v34 v123)
  (adjacent v35 v36)
  (adjacent v35 v111)
  (adjacent v37 v38)
  (adjacent v37 v79)
  (adjacent v37 v84)
  (adjacent v37 v153)
  (adjacent v38 v39)
  (adjacent v38 v45)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v40 v44)
  (adjacent v40 v57)
  (adjacent v40 v68)
  (adjacent v41 v165)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v159)
  (adjacent v46 v181)
  (adjacent v47 v48)
  (adjacent v47 v58)
  (adjacent v47 v62)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v98)
  (adjacent v50 v169)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v148)
  (adjacent v55 v163)
  (adjacent v55 v172)
  (adjacent v56 v57)
  (adjacent v57 v190)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v140)
  (adjacent v60 v61)
  (adjacent v62 v63)
  (adjacent v62 v69)
  (adjacent v63 v64)
  (adjacent v63 v120)
  (adjacent v64 v65)
  (adjacent v64 v80)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v67 v95)
  (adjacent v67 v126)
  (adjacent v68 v82)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v70 v96)
  (adjacent v71 v72)
  (adjacent v73 v74)
  (adjacent v73 v171)
  (adjacent v74 v75)
  (adjacent v74 v166)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v80 v81)
  (adjacent v80 v103)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v83 v115)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v88 v132)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v97)
  (adjacent v92 v93)
  (adjacent v93 v133)
  (adjacent v94 v95)
  (adjacent v95 v128)
  (adjacent v95 v162)
  (adjacent v96 v97)
  (adjacent v96 v176)
  (adjacent v98 v99)
  (adjacent v98 v187)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v102 v106)
  (adjacent v102 v125)
  (adjacent v103 v182)
  (adjacent v104 v105)
  (adjacent v104 v147)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v110 v155)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v114 v121)
  (adjacent v116 v117)
  (adjacent v116 v127)
  (adjacent v117 v118)
  (adjacent v117 v122)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v144 v149)
  (adjacent v145 v146)
  (adjacent v145 v154)
  (adjacent v147 v148)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v157 v168)
  (adjacent v157 v186)
  (adjacent v158 v159)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v163 v164)
  (adjacent v163 v171)
  (adjacent v164 v165)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v169 v170)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v179 v180)
  (adjacent v180 v181)
  (adjacent v182 v183)
  (adjacent v183 v184)
  (adjacent v184 v185)
  (adjacent v185 v186)
  (adjacent v187 v188)
  (adjacent v188 v189)
  (adjacent v189 v190)
 )
 (:goal
  (and
  (at r44 v0)
  (at r151 v1)
  (free v2)
  (at r145 v3)
  (at r121 v4)
  (at r185 v5)
  (at r161 v6)
  (at r38 v7)
  (at r137 v8)
  (free v9)
  (free v10)
  (at r66 v11)
  (at r76 v12)
  (at r42 v13)
  (at r147 v14)
  (at r140 v15)
  (at r138 v16)
  (at r36 v17)
  (at r53 v18)
  (at r125 v19)
  (at r27 v20)
  (at r79 v21)
  (at r62 v22)
  (at r30 v23)
  (at r101 v24)
  (at r187 v25)
  (at r141 v26)
  (at r35 v27)
  (at r22 v28)
  (free v29)
  (at r34 v30)
  (at r49 v31)
  (at r111 v32)
  (at r156 v33)
  (at r29 v34)
  (at r28 v35)
  (at r176 v36)
  (free v37)
  (at r50 v38)
  (at r130 v39)
  (at r97 v40)
  (at r99 v41)
  (free v42)
  (at r110 v43)
  (at r47 v44)
  (at r43 v45)
  (at r41 v46)
  (at r170 v47)
  (at r98 v48)
  (at r118 v49)
  (at r122 v50)
  (at r190 v51)
  (at r69 v52)
  (at r61 v53)
  (at r51 v54)
  (at r114 v55)
  (free v56)
  (at r115 v57)
  (at r142 v58)
  (free v59)
  (at r71 v60)
  (at r136 v61)
  (at r177 v62)
  (free v63)
  (at r158 v64)
  (at r123 v65)
  (at r120 v66)
  (at r150 v67)
  (at r107 v68)
  (at r31 v69)
  (at r87 v70)
  (at r67 v71)
  (at r95 v72)
  (at r152 v73)
  (at r169 v74)
  (at r109 v75)
  (at r117 v76)
  (at r20 v77)
  (at r86 v78)
  (at r72 v79)
  (at r40 v80)
  (at r129 v81)
  (at r60 v82)
  (at r126 v83)
  (at r144 v84)
  (at r179 v85)
  (at r75 v86)
  (at r104 v87)
  (at r148 v88)
  (at r180 v89)
  (at r178 v90)
  (at r23 v91)
  (at r81 v92)
  (at r167 v93)
  (free v94)
  (at r149 v95)
  (free v96)
  (at r89 v97)
  (at r184 v98)
  (at r56 v99)
  (at r52 v100)
  (at r58 v101)
  (at r92 v102)
  (at r131 v103)
  (at r174 v104)
  (free v105)
  (at r173 v106)
  (at r26 v107)
  (at r80 v108)
  (at r74 v109)
  (at r45 v110)
  (at r112 v111)
  (at r127 v112)
  (at r96 v113)
  (at r59 v114)
  (at r133 v115)
  (at r189 v116)
  (at r77 v117)
  (at r25 v118)
  (at r33 v119)
  (at r128 v120)
  (at r94 v121)
  (at r82 v122)
  (free v123)
  (at r100 v124)
  (at r124 v125)
  (free v126)
  (free v127)
  (at r134 v128)
  (at r132 v129)
  (at r159 v130)
  (at r106 v131)
  (at r162 v132)
  (at r46 v133)
  (at r102 v134)
  (at r172 v135)
  (at r32 v136)
  (at r103 v137)
  (at r157 v138)
  (at r68 v139)
  (at r55 v140)
  (at r165 v141)
  (at r39 v142)
  (at r70 v143)
  (at r21 v144)
  (at r155 v145)
  (at r37 v146)
  (at r24 v147)
  (at r188 v148)
  (at r48 v149)
  (at r181 v150)
  (at r63 v151)
  (at r163 v152)
  (at r135 v153)
  (at r116 v154)
  (at r90 v155)
  (at r168 v156)
  (at r105 v157)
  (at r64 v158)
  (at r108 v159)
  (at r113 v160)
  (at r78 v161)
  (at r164 v162)
  (at r166 v163)
  (free v164)
  (at r91 v165)
  (free v166)
  (at r175 v167)
  (at r160 v168)
  (at r182 v169)
  (at r186 v170)
  (free v171)
  (free v172)
  (at r73 v173)
  (at r154 v174)
  (at r143 v175)
  (at r93 v176)
  (at r84 v177)
  (at r54 v178)
  (at r119 v179)
  (at r171 v180)
  (at r153 v181)
  (at r85 v182)
  (free v183)
  (at r146 v184)
  (at r183 v185)
  (at r83 v186)
  (at r65 v187)
  (at r57 v188)
  (at r88 v189)
  (at r139 v190)
  )
 )
)