(define (problem multirobot_45_2_c0)
 (:domain multirobot)
 (:objects
  v0 r114
  v1 r124
  v2 r43
  v3 r84
  v4 r154
  v5 r79
  v6 r171
  v7
  v8 r9
  v9 r146
  v10 r117
  v11 r125
  v12 r33
  v13 r87
  v14 r96
  v15 r89
  v16 r109
  v17 r13
  v18 r132
  v19 r90
  v20 r75
  v21 r108
  v22 r81
  v23 r14
  v24 r48
  v25 r34
  v26 r54
  v27 r61
  v28 r93
  v29 r121
  v30 r41
  v31 r53
  v32 r149
  v33 r135
  v34 r136
  v35 r7
  v36 r140
  v37
  v38 r58
  v39 r142
  v40 r80
  v41 r56
  v42 r130
  v43 r72
  v44 r60
  v45 r150
  v46 r160
  v47 r22
  v48 r174
  v49 r77
  v50 r5
  v51 r64
  v52 r92
  v53 r52
  v54 r138
  v55 r147
  v56 r168
  v57 r143
  v58 r101
  v59 r25
  v60 r126
  v61 r112
  v62 r40
  v63 r66
  v64 r164
  v65 r169
  v66 r38
  v67 r30
  v68 r105
  v69 r59
  v70 r16
  v71 r76
  v72 r106
  v73 r155
  v74 r133
  v75 r51
  v76 r71
  v77 r74
  v78 r129
  v79 r110
  v80 r42
  v81 r45
  v82 r63
  v83 r17
  v84 r139
  v85 r116
  v86 r20
  v87 r4
  v88 r88
  v89 r175
  v90 r115
  v91 r118
  v92 r35
  v93 r69
  v94 r83
  v95 r128
  v96 r165
  v97 r123
  v98 r49
  v99 r97
  v100 r44
  v101 r161
  v102 r137
  v103 r158
  v104 r6
  v105 r120
  v106 r23
  v107 r19
  v108 r134
  v109 r159
  v110 r26
  v111 r145
  v112 r103
  v113 r98
  v114 r67
  v115 r18
  v116 r29
  v117 r12
  v118 r141
  v119 r163
  v120 r172
  v121 r70
  v122 r2
  v123 r15
  v124 r119
  v125 r32
  v126 r102
  v127 r151
  v128 r27
  v129 r148
  v130 r73
  v131 r46
  v132 r94
  v133 r173
  v134 r50
  v135 r166
  v136 r170
  v137 r8
  v138 r62
  v139 r122
  v140 r113
  v141 r144
  v142 r167
  v143 r152
  v144 r37
  v145 r104
  v146 r100
  v147 r24
  v148 r47
  v149 r153
  v150 r11
  v151 r78
  v152 r10
  v153 r162
  v154 r82
  v155 r157
  v156 r57
  v157 r31
  v158 r55
  v159 r127
  v160 r107
  v161 r85
  v162 r111
  v163 r91
  v164 r156
  v165 r3
  v166 r86
  v167 r68
  v168 r99
  v169 r28
  v170 r65
  v171 r21
  v172 r131
  v173 r39
  v174 r36
  v175 r95
 )
 (:init
  (at r114 v0)
  (at r124 v1)
  (at r43 v2)
  (at r84 v3)
  (at r154 v4)
  (at r79 v5)
  (at r171 v6)
  (free v7)
  (at r9 v8)
  (at r146 v9)
  (at r117 v10)
  (at r125 v11)
  (at r33 v12)
  (at r87 v13)
  (at r96 v14)
  (at r89 v15)
  (at r109 v16)
  (at r13 v17)
  (at r132 v18)
  (at r90 v19)
  (at r75 v20)
  (at r108 v21)
  (at r81 v22)
  (at r14 v23)
  (at r48 v24)
  (at r34 v25)
  (at r54 v26)
  (at r61 v27)
  (at r93 v28)
  (at r121 v29)
  (at r41 v30)
  (at r53 v31)
  (at r149 v32)
  (at r135 v33)
  (at r136 v34)
  (at r7 v35)
  (at r140 v36)
  (free v37)
  (at r58 v38)
  (at r142 v39)
  (at r80 v40)
  (at r56 v41)
  (at r130 v42)
  (at r72 v43)
  (at r60 v44)
  (at r150 v45)
  (at r160 v46)
  (at r22 v47)
  (at r174 v48)
  (at r77 v49)
  (at r5 v50)
  (at r64 v51)
  (at r92 v52)
  (at r52 v53)
  (at r138 v54)
  (at r147 v55)
  (at r168 v56)
  (at r143 v57)
  (at r101 v58)
  (at r25 v59)
  (at r126 v60)
  (at r112 v61)
  (at r40 v62)
  (at r66 v63)
  (at r164 v64)
  (at r169 v65)
  (at r38 v66)
  (at r30 v67)
  (at r105 v68)
  (at r59 v69)
  (at r16 v70)
  (at r76 v71)
  (at r106 v72)
  (at r155 v73)
  (at r133 v74)
  (at r51 v75)
  (at r71 v76)
  (at r74 v77)
  (at r129 v78)
  (at r110 v79)
  (at r42 v80)
  (at r45 v81)
  (at r63 v82)
  (at r17 v83)
  (at r139 v84)
  (at r116 v85)
  (at r20 v86)
  (at r4 v87)
  (at r88 v88)
  (at r175 v89)
  (at r115 v90)
  (at r118 v91)
  (at r35 v92)
  (at r69 v93)
  (at r83 v94)
  (at r128 v95)
  (at r165 v96)
  (at r123 v97)
  (at r49 v98)
  (at r97 v99)
  (at r44 v100)
  (at r161 v101)
  (at r137 v102)
  (at r158 v103)
  (at r6 v104)
  (at r120 v105)
  (at r23 v106)
  (at r19 v107)
  (at r134 v108)
  (at r159 v109)
  (at r26 v110)
  (at r145 v111)
  (at r103 v112)
  (at r98 v113)
  (at r67 v114)
  (at r18 v115)
  (at r29 v116)
  (at r12 v117)
  (at r141 v118)
  (at r163 v119)
  (at r172 v120)
  (at r70 v121)
  (at r2 v122)
  (at r15 v123)
  (at r119 v124)
  (at r32 v125)
  (at r102 v126)
  (at r151 v127)
  (at r27 v128)
  (at r148 v129)
  (at r73 v130)
  (at r46 v131)
  (at r94 v132)
  (at r173 v133)
  (at r50 v134)
  (at r166 v135)
  (at r170 v136)
  (at r8 v137)
  (at r62 v138)
  (at r122 v139)
  (at r113 v140)
  (at r144 v141)
  (at r167 v142)
  (at r152 v143)
  (at r37 v144)
  (at r104 v145)
  (at r100 v146)
  (at r24 v147)
  (at r47 v148)
  (at r153 v149)
  (at r11 v150)
  (at r78 v151)
  (at r10 v152)
  (at r162 v153)
  (at r82 v154)
  (at r157 v155)
  (at r57 v156)
  (at r31 v157)
  (at r55 v158)
  (at r127 v159)
  (at r107 v160)
  (at r85 v161)
  (at r111 v162)
  (at r91 v163)
  (at r156 v164)
  (at r3 v165)
  (at r86 v166)
  (at r68 v167)
  (at r99 v168)
  (at r28 v169)
  (at r65 v170)
  (at r21 v171)
  (at r131 v172)
  (at r39 v173)
  (at r36 v174)
  (at r95 v175)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v17)
  (adjacent v1 v2)
  (adjacent v1 v8)
  (adjacent v1 v11)
  (adjacent v2 v3)
  (adjacent v2 v24)
  (adjacent v3 v4)
  (adjacent v3 v36)
  (adjacent v4 v5)
  (adjacent v4 v9)
  (adjacent v4 v32)
  (adjacent v5 v6)
  (adjacent v5 v27)
  (adjacent v5 v44)
  (adjacent v6 v7)
  (adjacent v6 v39)
  (adjacent v6 v51)
  (adjacent v6 v112)
  (adjacent v7 v8)
  (adjacent v7 v86)
  (adjacent v7 v89)
  (adjacent v7 v96)
  (adjacent v9 v10)
  (adjacent v9 v12)
  (adjacent v10 v11)
  (adjacent v10 v21)
  (adjacent v10 v152)
  (adjacent v11 v16)
  (adjacent v11 v58)
  (adjacent v12 v13)
  (adjacent v12 v20)
  (adjacent v13 v14)
  (adjacent v13 v45)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v19)
  (adjacent v15 v92)
  (adjacent v17 v18)
  (adjacent v17 v23)
  (adjacent v17 v26)
  (adjacent v17 v78)
  (adjacent v17 v158)
  (adjacent v18 v19)
  (adjacent v18 v108)
  (adjacent v19 v20)
  (adjacent v19 v59)
  (adjacent v19 v101)
  (adjacent v20 v37)
  (adjacent v20 v79)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v23 v31)
  (adjacent v23 v83)
  (adjacent v24 v25)
  (adjacent v24 v57)
  (adjacent v24 v167)
  (adjacent v25 v26)
  (adjacent v25 v112)
  (adjacent v26 v91)
  (adjacent v26 v106)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v84)
  (adjacent v29 v30)
  (adjacent v29 v38)
  (adjacent v29 v50)
  (adjacent v30 v31)
  (adjacent v30 v93)
  (adjacent v32 v33)
  (adjacent v32 v63)
  (adjacent v33 v34)
  (adjacent v33 v90)
  (adjacent v33 v121)
  (adjacent v34 v35)
  (adjacent v34 v64)
  (adjacent v34 v167)
  (adjacent v35 v36)
  (adjacent v35 v67)
  (adjacent v36 v73)
  (adjacent v37 v38)
  (adjacent v37 v68)
  (adjacent v39 v40)
  (adjacent v39 v56)
  (adjacent v40 v41)
  (adjacent v40 v166)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v168)
  (adjacent v43 v44)
  (adjacent v43 v107)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v95)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v147)
  (adjacent v50 v72)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v57 v58)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v66 v78)
  (adjacent v66 v85)
  (adjacent v66 v119)
  (adjacent v67 v77)
  (adjacent v67 v122)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v141)
  (adjacent v78 v120)
  (adjacent v79 v80)
  (adjacent v79 v133)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v81 v105)
  (adjacent v82 v83)
  (adjacent v83 v88)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v113)
  (adjacent v88 v161)
  (adjacent v89 v90)
  (adjacent v91 v92)
  (adjacent v91 v111)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v96 v97)
  (adjacent v96 v126)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v99 v102)
  (adjacent v100 v101)
  (adjacent v101 v127)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v106 v107)
  (adjacent v107 v146)
  (adjacent v108 v109)
  (adjacent v108 v157)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v110 v133)
  (adjacent v112 v137)
  (adjacent v112 v175)
  (adjacent v113 v114)
  (adjacent v113 v132)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v120 v121)
  (adjacent v122 v123)
  (adjacent v122 v140)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v124 v136)
  (adjacent v125 v126)
  (adjacent v125 v134)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v162)
  (adjacent v134 v135)
  (adjacent v134 v170)
  (adjacent v135 v136)
  (adjacent v137 v138)
  (adjacent v137 v151)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (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 v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v155 v169)
  (adjacent v156 v157)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v168 v169)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v174 v175)
 )
 (:goal
  (and
  (at r71 v0)
  (free v1)
  (at r104 v2)
  (at r70 v3)
  (at r41 v4)
  (at r7 v5)
  (at r48 v6)
  (at r100 v7)
  (at r89 v8)
  (at r115 v9)
  (at r106 v10)
  (at r122 v11)
  (at r148 v12)
  (at r80 v13)
  (at r127 v14)
  (at r11 v15)
  (at r52 v16)
  (at r91 v17)
  (at r34 v18)
  (at r140 v19)
  (at r27 v20)
  (at r92 v21)
  (at r28 v22)
  (at r3 v23)
  (at r95 v24)
  (at r149 v25)
  (at r12 v26)
  (at r102 v27)
  (at r30 v28)
  (at r36 v29)
  (free v30)
  (at r118 v31)
  (at r174 v32)
  (at r56 v33)
  (at r137 v34)
  (at r111 v35)
  (at r55 v36)
  (at r173 v37)
  (at r39 v38)
  (at r165 v39)
  (at r153 v40)
  (at r46 v41)
  (at r169 v42)
  (at r67 v43)
  (at r74 v44)
  (at r88 v45)
  (at r167 v46)
  (at r159 v47)
  (at r75 v48)
  (at r8 v49)
  (at r90 v50)
  (at r142 v51)
  (at r81 v52)
  (at r14 v53)
  (at r22 v54)
  (at r35 v55)
  (at r152 v56)
  (at r93 v57)
  (at r158 v58)
  (at r68 v59)
  (at r87 v60)
  (at r108 v61)
  (at r113 v62)
  (at r161 v63)
  (at r24 v64)
  (at r136 v65)
  (at r57 v66)
  (at r16 v67)
  (at r151 v68)
  (at r86 v69)
  (at r105 v70)
  (at r119 v71)
  (at r69 v72)
  (at r78 v73)
  (at r156 v74)
  (at r84 v75)
  (at r101 v76)
  (at r145 v77)
  (at r60 v78)
  (at r40 v79)
  (at r42 v80)
  (at r147 v81)
  (at r76 v82)
  (at r2 v83)
  (at r44 v84)
  (at r97 v85)
  (at r43 v86)
  (at r49 v87)
  (at r117 v88)
  (at r170 v89)
  (at r157 v90)
  (at r82 v91)
  (at r77 v92)
  (at r50 v93)
  (at r64 v94)
  (at r99 v95)
  (at r23 v96)
  (at r132 v97)
  (at r33 v98)
  (at r59 v99)
  (at r79 v100)
  (at r172 v101)
  (at r13 v102)
  (at r54 v103)
  (at r175 v104)
  (at r164 v105)
  (at r94 v106)
  (at r51 v107)
  (at r4 v108)
  (at r63 v109)
  (at r65 v110)
  (at r109 v111)
  (at r19 v112)
  (at r20 v113)
  (at r128 v114)
  (at r171 v115)
  (at r17 v116)
  (at r110 v117)
  (at r134 v118)
  (at r162 v119)
  (at r6 v120)
  (at r124 v121)
  (at r9 v122)
  (at r66 v123)
  (at r47 v124)
  (at r98 v125)
  (at r154 v126)
  (at r160 v127)
  (at r163 v128)
  (at r114 v129)
  (at r21 v130)
  (at r29 v131)
  (at r155 v132)
  (at r139 v133)
  (at r138 v134)
  (at r146 v135)
  (at r96 v136)
  (at r143 v137)
  (at r5 v138)
  (at r26 v139)
  (at r18 v140)
  (at r123 v141)
  (at r38 v142)
  (at r62 v143)
  (at r141 v144)
  (at r126 v145)
  (at r72 v146)
  (at r125 v147)
  (at r73 v148)
  (at r135 v149)
  (at r53 v150)
  (at r10 v151)
  (at r32 v152)
  (at r103 v153)
  (at r107 v154)
  (at r31 v155)
  (at r130 v156)
  (at r168 v157)
  (at r112 v158)
  (at r83 v159)
  (at r133 v160)
  (at r121 v161)
  (at r61 v162)
  (at r131 v163)
  (at r166 v164)
  (at r144 v165)
  (at r37 v166)
  (at r129 v167)
  (at r116 v168)
  (at r120 v169)
  (at r45 v170)
  (at r15 v171)
  (at r150 v172)
  (at r58 v173)
  (at r25 v174)
  (at r85 v175)
  )
 )
)