(define (problem multirobot_44_2_c4)
 (:domain multirobot)
 (:objects
  v0 r136
  v1 r138
  v2 r39
  v3 r165
  v4 r170
  v5 r159
  v6 r105
  v7 r116
  v8 r60
  v9 r92
  v10 r34
  v11 r77
  v12 r95
  v13 r152
  v14 r178
  v15 r153
  v16 r137
  v17 r50
  v18 r72
  v19 r67
  v20 r53
  v21 r131
  v22 r43
  v23 r133
  v24 r20
  v25 r8
  v26 r151
  v27 r174
  v28 r143
  v29 r124
  v30 r142
  v31 r176
  v32 r78
  v33 r114
  v34 r13
  v35 r57
  v36 r86
  v37 r16
  v38 r98
  v39 r45
  v40 r158
  v41 r123
  v42 r108
  v43 r102
  v44 r168
  v45 r87
  v46 r169
  v47 r69
  v48 r104
  v49 r147
  v50 r44
  v51 r163
  v52 r55
  v53 r134
  v54 r149
  v55 r37
  v56 r76
  v57 r68
  v58 r30
  v59 r81
  v60 r22
  v61 r18
  v62 r6
  v63 r17
  v64 r141
  v65 r119
  v66 r15
  v67 r148
  v68 r130
  v69 r9
  v70 r115
  v71 r180
  v72 r47
  v73 r125
  v74 r129
  v75 r7
  v76 r10
  v77 r99
  v78 r29
  v79 r120
  v80 r154
  v81 r110
  v82 r126
  v83 r150
  v84
  v85 r79
  v86 r21
  v87 r85
  v88 r122
  v89 r132
  v90 r117
  v91 r31
  v92 r171
  v93 r112
  v94 r156
  v95 r27
  v96 r19
  v97 r94
  v98 r63
  v99 r65
  v100 r49
  v101 r161
  v102 r118
  v103 r89
  v104 r88
  v105 r62
  v106 r107
  v107 r33
  v108 r56
  v109 r91
  v110 r75
  v111 r66
  v112 r5
  v113 r46
  v114 r35
  v115 r175
  v116 r25
  v117 r80
  v118 r144
  v119 r172
  v120 r52
  v121
  v122 r146
  v123 r139
  v124 r97
  v125 r177
  v126 r145
  v127 r96
  v128 r173
  v129 r61
  v130 r23
  v131 r127
  v132 r2
  v133 r48
  v134 r4
  v135 r103
  v136 r164
  v137 r140
  v138 r51
  v139 r11
  v140 r179
  v141 r155
  v142 r128
  v143 r181
  v144 r41
  v145 r160
  v146 r166
  v147 r42
  v148 r54
  v149 r73
  v150 r12
  v151 r58
  v152 r26
  v153 r93
  v154 r71
  v155 r24
  v156 r28
  v157 r59
  v158 r36
  v159 r3
  v160 r64
  v161 r90
  v162 r83
  v163 r106
  v164 r113
  v165 r157
  v166 r101
  v167 r111
  v168 r109
  v169 r70
  v170 r121
  v171 r167
  v172 r84
  v173 r135
  v174 r162
  v175 r40
  v176 r38
  v177 r82
  v178 r74
  v179 r100
  v180 r32
  v181 r14
 )
 (:init
  (at r136 v0)
  (at r138 v1)
  (at r39 v2)
  (at r165 v3)
  (at r170 v4)
  (at r159 v5)
  (at r105 v6)
  (at r116 v7)
  (at r60 v8)
  (at r92 v9)
  (at r34 v10)
  (at r77 v11)
  (at r95 v12)
  (at r152 v13)
  (at r178 v14)
  (at r153 v15)
  (at r137 v16)
  (at r50 v17)
  (at r72 v18)
  (at r67 v19)
  (at r53 v20)
  (at r131 v21)
  (at r43 v22)
  (at r133 v23)
  (at r20 v24)
  (at r8 v25)
  (at r151 v26)
  (at r174 v27)
  (at r143 v28)
  (at r124 v29)
  (at r142 v30)
  (at r176 v31)
  (at r78 v32)
  (at r114 v33)
  (at r13 v34)
  (at r57 v35)
  (at r86 v36)
  (at r16 v37)
  (at r98 v38)
  (at r45 v39)
  (at r158 v40)
  (at r123 v41)
  (at r108 v42)
  (at r102 v43)
  (at r168 v44)
  (at r87 v45)
  (at r169 v46)
  (at r69 v47)
  (at r104 v48)
  (at r147 v49)
  (at r44 v50)
  (at r163 v51)
  (at r55 v52)
  (at r134 v53)
  (at r149 v54)
  (at r37 v55)
  (at r76 v56)
  (at r68 v57)
  (at r30 v58)
  (at r81 v59)
  (at r22 v60)
  (at r18 v61)
  (at r6 v62)
  (at r17 v63)
  (at r141 v64)
  (at r119 v65)
  (at r15 v66)
  (at r148 v67)
  (at r130 v68)
  (at r9 v69)
  (at r115 v70)
  (at r180 v71)
  (at r47 v72)
  (at r125 v73)
  (at r129 v74)
  (at r7 v75)
  (at r10 v76)
  (at r99 v77)
  (at r29 v78)
  (at r120 v79)
  (at r154 v80)
  (at r110 v81)
  (at r126 v82)
  (at r150 v83)
  (free v84)
  (at r79 v85)
  (at r21 v86)
  (at r85 v87)
  (at r122 v88)
  (at r132 v89)
  (at r117 v90)
  (at r31 v91)
  (at r171 v92)
  (at r112 v93)
  (at r156 v94)
  (at r27 v95)
  (at r19 v96)
  (at r94 v97)
  (at r63 v98)
  (at r65 v99)
  (at r49 v100)
  (at r161 v101)
  (at r118 v102)
  (at r89 v103)
  (at r88 v104)
  (at r62 v105)
  (at r107 v106)
  (at r33 v107)
  (at r56 v108)
  (at r91 v109)
  (at r75 v110)
  (at r66 v111)
  (at r5 v112)
  (at r46 v113)
  (at r35 v114)
  (at r175 v115)
  (at r25 v116)
  (at r80 v117)
  (at r144 v118)
  (at r172 v119)
  (at r52 v120)
  (free v121)
  (at r146 v122)
  (at r139 v123)
  (at r97 v124)
  (at r177 v125)
  (at r145 v126)
  (at r96 v127)
  (at r173 v128)
  (at r61 v129)
  (at r23 v130)
  (at r127 v131)
  (at r2 v132)
  (at r48 v133)
  (at r4 v134)
  (at r103 v135)
  (at r164 v136)
  (at r140 v137)
  (at r51 v138)
  (at r11 v139)
  (at r179 v140)
  (at r155 v141)
  (at r128 v142)
  (at r181 v143)
  (at r41 v144)
  (at r160 v145)
  (at r166 v146)
  (at r42 v147)
  (at r54 v148)
  (at r73 v149)
  (at r12 v150)
  (at r58 v151)
  (at r26 v152)
  (at r93 v153)
  (at r71 v154)
  (at r24 v155)
  (at r28 v156)
  (at r59 v157)
  (at r36 v158)
  (at r3 v159)
  (at r64 v160)
  (at r90 v161)
  (at r83 v162)
  (at r106 v163)
  (at r113 v164)
  (at r157 v165)
  (at r101 v166)
  (at r111 v167)
  (at r109 v168)
  (at r70 v169)
  (at r121 v170)
  (at r167 v171)
  (at r84 v172)
  (at r135 v173)
  (at r162 v174)
  (at r40 v175)
  (at r38 v176)
  (at r82 v177)
  (at r74 v178)
  (at r100 v179)
  (at r32 v180)
  (at r14 v181)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v8)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v42)
  (adjacent v3 v143)
  (adjacent v4 v34)
  (adjacent v5 v6)
  (adjacent v5 v41)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v12)
  (adjacent v8 v9)
  (adjacent v8 v35)
  (adjacent v8 v46)
  (adjacent v9 v10)
  (adjacent v9 v16)
  (adjacent v10 v11)
  (adjacent v10 v27)
  (adjacent v10 v133)
  (adjacent v11 v12)
  (adjacent v11 v13)
  (adjacent v11 v63)
  (adjacent v12 v21)
  (adjacent v12 v38)
  (adjacent v12 v80)
  (adjacent v12 v104)
  (adjacent v13 v14)
  (adjacent v13 v17)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v53)
  (adjacent v16 v82)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v64)
  (adjacent v19 v116)
  (adjacent v20 v21)
  (adjacent v20 v22)
  (adjacent v20 v66)
  (adjacent v22 v23)
  (adjacent v22 v28)
  (adjacent v22 v149)
  (adjacent v23 v24)
  (adjacent v23 v39)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v47)
  (adjacent v26 v27)
  (adjacent v26 v101)
  (adjacent v27 v95)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v75)
  (adjacent v29 v125)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v60)
  (adjacent v32 v154)
  (adjacent v33 v34)
  (adjacent v33 v74)
  (adjacent v33 v110)
  (adjacent v34 v103)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v67)
  (adjacent v38 v72)
  (adjacent v39 v40)
  (adjacent v39 v54)
  (adjacent v40 v41)
  (adjacent v40 v47)
  (adjacent v40 v81)
  (adjacent v41 v155)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v150)
  (adjacent v45 v46)
  (adjacent v45 v153)
  (adjacent v47 v48)
  (adjacent v47 v90)
  (adjacent v48 v49)
  (adjacent v48 v61)
  (adjacent v49 v50)
  (adjacent v49 v74)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v71)
  (adjacent v52 v73)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v172)
  (adjacent v56 v57)
  (adjacent v56 v96)
  (adjacent v56 v100)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v58 v134)
  (adjacent v59 v60)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v83)
  (adjacent v64 v65)
  (adjacent v64 v121)
  (adjacent v65 v66)
  (adjacent v66 v150)
  (adjacent v67 v68)
  (adjacent v67 v81)
  (adjacent v67 v82)
  (adjacent v67 v89)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v159)
  (adjacent v70 v71)
  (adjacent v70 v165)
  (adjacent v72 v73)
  (adjacent v72 v115)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v77 v111)
  (adjacent v78 v79)
  (adjacent v78 v96)
  (adjacent v79 v80)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v153)
  (adjacent v86 v87)
  (adjacent v86 v128)
  (adjacent v87 v88)
  (adjacent v87 v127)
  (adjacent v88 v89)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v94 v97)
  (adjacent v95 v173)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v99 v139)
  (adjacent v100 v140)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v174)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v108 v144)
  (adjacent v109 v110)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v114 v122)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v118 v126)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v152)
  (adjacent v122 v123)
  (adjacent v122 v160)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v130 v164)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v132 v151)
  (adjacent v132 v171)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v141 v179)
  (adjacent v142 v143)
  (adjacent v144 v145)
  (adjacent v144 v154)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v151 v152)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v168 v181)
  (adjacent v169 v170)
  (adjacent v169 v178)
  (adjacent v170 v171)
  (adjacent v172 v173)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v179 v180)
  (adjacent v180 v181)
 )
 (:goal
  (and
  (at r142 v0)
  (at r12 v1)
  (at r119 v2)
  (at r109 v3)
  (at r102 v4)
  (at r97 v5)
  (at r165 v6)
  (at r115 v7)
  (at r19 v8)
  (at r39 v9)
  (at r152 v10)
  (at r150 v11)
  (at r86 v12)
  (at r26 v13)
  (at r69 v14)
  (at r17 v15)
  (at r74 v16)
  (at r171 v17)
  (at r158 v18)
  (at r77 v19)
  (at r85 v20)
  (at r79 v21)
  (at r46 v22)
  (at r124 v23)
  (at r173 v24)
  (at r58 v25)
  (at r156 v26)
  (at r49 v27)
  (at r140 v28)
  (at r89 v29)
  (at r53 v30)
  (at r63 v31)
  (at r129 v32)
  (at r130 v33)
  (at r108 v34)
  (at r88 v35)
  (at r32 v36)
  (at r164 v37)
  (at r155 v38)
  (at r153 v39)
  (at r106 v40)
  (at r9 v41)
  (at r5 v42)
  (at r72 v43)
  (at r7 v44)
  (at r91 v45)
  (at r78 v46)
  (at r149 v47)
  (at r175 v48)
  (at r167 v49)
  (at r104 v50)
  (at r116 v51)
  (at r147 v52)
  (at r10 v53)
  (at r132 v54)
  (at r128 v55)
  (at r160 v56)
  (at r131 v57)
  (at r35 v58)
  (at r103 v59)
  (at r11 v60)
  (at r15 v61)
  (at r42 v62)
  (at r24 v63)
  (at r139 v64)
  (at r117 v65)
  (at r111 v66)
  (at r159 v67)
  (at r30 v68)
  (at r163 v69)
  (at r14 v70)
  (at r161 v71)
  (at r157 v72)
  (at r100 v73)
  (at r68 v74)
  (at r75 v75)
  (at r120 v76)
  (at r121 v77)
  (at r23 v78)
  (at r67 v79)
  (at r38 v80)
  (at r125 v81)
  (at r50 v82)
  (at r138 v83)
  (at r99 v84)
  (at r113 v85)
  (at r8 v86)
  (at r40 v87)
  (at r137 v88)
  (at r66 v89)
  (at r87 v90)
  (at r122 v91)
  (at r57 v92)
  (at r154 v93)
  (at r16 v94)
  (at r170 v95)
  (at r2 v96)
  (at r169 v97)
  (at r4 v98)
  (at r98 v99)
  (at r41 v100)
  (at r112 v101)
  (at r60 v102)
  (at r110 v103)
  (at r13 v104)
  (at r44 v105)
  (at r181 v106)
  (at r31 v107)
  (at r70 v108)
  (at r56 v109)
  (at r166 v110)
  (at r179 v111)
  (at r180 v112)
  (at r52 v113)
  (at r135 v114)
  (at r123 v115)
  (at r18 v116)
  (at r37 v117)
  (free v118)
  (at r61 v119)
  (at r118 v120)
  (at r27 v121)
  (at r107 v122)
  (at r6 v123)
  (at r151 v124)
  (at r162 v125)
  (at r101 v126)
  (at r81 v127)
  (at r168 v128)
  (at r90 v129)
  (at r126 v130)
  (at r33 v131)
  (at r3 v132)
  (at r21 v133)
  (at r43 v134)
  (at r55 v135)
  (at r59 v136)
  (at r176 v137)
  (at r20 v138)
  (at r28 v139)
  (at r54 v140)
  (at r36 v141)
  (at r25 v142)
  (at r144 v143)
  (at r178 v144)
  (at r34 v145)
  (at r133 v146)
  (at r92 v147)
  (at r105 v148)
  (at r114 v149)
  (at r136 v150)
  (at r22 v151)
  (at r48 v152)
  (at r29 v153)
  (at r64 v154)
  (at r82 v155)
  (at r51 v156)
  (at r174 v157)
  (at r47 v158)
  (at r96 v159)
  (at r172 v160)
  (at r141 v161)
  (at r71 v162)
  (free v163)
  (at r177 v164)
  (at r146 v165)
  (at r95 v166)
  (at r143 v167)
  (at r84 v168)
  (at r127 v169)
  (at r145 v170)
  (at r134 v171)
  (at r62 v172)
  (at r83 v173)
  (at r94 v174)
  (at r80 v175)
  (at r148 v176)
  (at r93 v177)
  (at r45 v178)
  (at r76 v179)
  (at r65 v180)
  (at r73 v181)
  )
 )
)