(define (problem multirobot_45_2_c4)
 (:domain multirobot)
 (:objects
  v0 r61
  v1 r178
  v2 r69
  v3 r134
  v4 r194
  v5 r51
  v6 r107
  v7 r156
  v8 r131
  v9 r34
  v10 r136
  v11 r81
  v12 r31
  v13 r176
  v14 r88
  v15 r182
  v16 r137
  v17 r84
  v18 r78
  v19 r141
  v20 r39
  v21 r150
  v22 r79
  v23 r121
  v24 r53
  v25 r123
  v26 r11
  v27 r98
  v28 r190
  v29 r26
  v30 r143
  v31 r128
  v32 r103
  v33 r186
  v34 r25
  v35 r19
  v36 r191
  v37 r166
  v38 r183
  v39 r94
  v40 r35
  v41 r93
  v42 r21
  v43 r168
  v44 r163
  v45 r77
  v46 r76
  v47 r175
  v48 r14
  v49 r164
  v50 r188
  v51 r130
  v52 r157
  v53 r6
  v54 r91
  v55 r96
  v56 r32
  v57 r169
  v58 r29
  v59 r7
  v60 r146
  v61 r42
  v62 r58
  v63 r15
  v64 r133
  v65 r139
  v66 r75
  v67 r3
  v68 r167
  v69 r18
  v70 r71
  v71 r64
  v72 r45
  v73 r184
  v74 r111
  v75 r95
  v76 r63
  v77 r30
  v78 r27
  v79 r86
  v80 r82
  v81 r102
  v82 r155
  v83 r56
  v84 r110
  v85 r99
  v86 r47
  v87 r2
  v88 r181
  v89 r162
  v90 r179
  v91 r193
  v92
  v93 r67
  v94 r20
  v95 r43
  v96 r132
  v97 r4
  v98 r118
  v99 r65
  v100 r60
  v101 r87
  v102 r36
  v103 r70
  v104 r28
  v105 r149
  v106 r127
  v107 r24
  v108 r59
  v109 r23
  v110 r115
  v111 r57
  v112 r189
  v113 r152
  v114 r138
  v115 r172
  v116 r74
  v117 r17
  v118 r159
  v119 r104
  v120 r151
  v121 r97
  v122 r106
  v123 r44
  v124 r8
  v125 r83
  v126 r174
  v127 r140
  v128 r85
  v129 r101
  v130 r171
  v131 r46
  v132 r196
  v133 r116
  v134 r62
  v135 r92
  v136 r158
  v137 r55
  v138 r160
  v139 r13
  v140 r165
  v141 r144
  v142 r125
  v143 r187
  v144 r89
  v145 r66
  v146 r68
  v147 r16
  v148 r180
  v149 r177
  v150 r10
  v151 r41
  v152 r113
  v153 r38
  v154 r112
  v155 r54
  v156 r195
  v157 r185
  v158 r126
  v159 r124
  v160 r145
  v161 r33
  v162 r105
  v163 r37
  v164 r119
  v165 r170
  v166 r72
  v167 r135
  v168
  v169 r153
  v170 r122
  v171 r49
  v172 r114
  v173 r173
  v174 r120
  v175 r22
  v176 r148
  v177 r40
  v178 r9
  v179 r52
  v180 r48
  v181 r80
  v182 r129
  v183 r109
  v184 r12
  v185 r142
  v186 r108
  v187 r192
  v188 r147
  v189 r154
  v190 r90
  v191 r73
  v192 r100
  v193 r50
  v194 r117
  v195 r5
  v196 r161
 )
 (:init
  (at r61 v0)
  (at r178 v1)
  (at r69 v2)
  (at r134 v3)
  (at r194 v4)
  (at r51 v5)
  (at r107 v6)
  (at r156 v7)
  (at r131 v8)
  (at r34 v9)
  (at r136 v10)
  (at r81 v11)
  (at r31 v12)
  (at r176 v13)
  (at r88 v14)
  (at r182 v15)
  (at r137 v16)
  (at r84 v17)
  (at r78 v18)
  (at r141 v19)
  (at r39 v20)
  (at r150 v21)
  (at r79 v22)
  (at r121 v23)
  (at r53 v24)
  (at r123 v25)
  (at r11 v26)
  (at r98 v27)
  (at r190 v28)
  (at r26 v29)
  (at r143 v30)
  (at r128 v31)
  (at r103 v32)
  (at r186 v33)
  (at r25 v34)
  (at r19 v35)
  (at r191 v36)
  (at r166 v37)
  (at r183 v38)
  (at r94 v39)
  (at r35 v40)
  (at r93 v41)
  (at r21 v42)
  (at r168 v43)
  (at r163 v44)
  (at r77 v45)
  (at r76 v46)
  (at r175 v47)
  (at r14 v48)
  (at r164 v49)
  (at r188 v50)
  (at r130 v51)
  (at r157 v52)
  (at r6 v53)
  (at r91 v54)
  (at r96 v55)
  (at r32 v56)
  (at r169 v57)
  (at r29 v58)
  (at r7 v59)
  (at r146 v60)
  (at r42 v61)
  (at r58 v62)
  (at r15 v63)
  (at r133 v64)
  (at r139 v65)
  (at r75 v66)
  (at r3 v67)
  (at r167 v68)
  (at r18 v69)
  (at r71 v70)
  (at r64 v71)
  (at r45 v72)
  (at r184 v73)
  (at r111 v74)
  (at r95 v75)
  (at r63 v76)
  (at r30 v77)
  (at r27 v78)
  (at r86 v79)
  (at r82 v80)
  (at r102 v81)
  (at r155 v82)
  (at r56 v83)
  (at r110 v84)
  (at r99 v85)
  (at r47 v86)
  (at r2 v87)
  (at r181 v88)
  (at r162 v89)
  (at r179 v90)
  (at r193 v91)
  (free v92)
  (at r67 v93)
  (at r20 v94)
  (at r43 v95)
  (at r132 v96)
  (at r4 v97)
  (at r118 v98)
  (at r65 v99)
  (at r60 v100)
  (at r87 v101)
  (at r36 v102)
  (at r70 v103)
  (at r28 v104)
  (at r149 v105)
  (at r127 v106)
  (at r24 v107)
  (at r59 v108)
  (at r23 v109)
  (at r115 v110)
  (at r57 v111)
  (at r189 v112)
  (at r152 v113)
  (at r138 v114)
  (at r172 v115)
  (at r74 v116)
  (at r17 v117)
  (at r159 v118)
  (at r104 v119)
  (at r151 v120)
  (at r97 v121)
  (at r106 v122)
  (at r44 v123)
  (at r8 v124)
  (at r83 v125)
  (at r174 v126)
  (at r140 v127)
  (at r85 v128)
  (at r101 v129)
  (at r171 v130)
  (at r46 v131)
  (at r196 v132)
  (at r116 v133)
  (at r62 v134)
  (at r92 v135)
  (at r158 v136)
  (at r55 v137)
  (at r160 v138)
  (at r13 v139)
  (at r165 v140)
  (at r144 v141)
  (at r125 v142)
  (at r187 v143)
  (at r89 v144)
  (at r66 v145)
  (at r68 v146)
  (at r16 v147)
  (at r180 v148)
  (at r177 v149)
  (at r10 v150)
  (at r41 v151)
  (at r113 v152)
  (at r38 v153)
  (at r112 v154)
  (at r54 v155)
  (at r195 v156)
  (at r185 v157)
  (at r126 v158)
  (at r124 v159)
  (at r145 v160)
  (at r33 v161)
  (at r105 v162)
  (at r37 v163)
  (at r119 v164)
  (at r170 v165)
  (at r72 v166)
  (at r135 v167)
  (free v168)
  (at r153 v169)
  (at r122 v170)
  (at r49 v171)
  (at r114 v172)
  (at r173 v173)
  (at r120 v174)
  (at r22 v175)
  (at r148 v176)
  (at r40 v177)
  (at r9 v178)
  (at r52 v179)
  (at r48 v180)
  (at r80 v181)
  (at r129 v182)
  (at r109 v183)
  (at r12 v184)
  (at r142 v185)
  (at r108 v186)
  (at r192 v187)
  (at r147 v188)
  (at r154 v189)
  (at r90 v190)
  (at r73 v191)
  (at r100 v192)
  (at r50 v193)
  (at r117 v194)
  (at r5 v195)
  (at r161 v196)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v8)
  (adjacent v0 v25)
  (adjacent v0 v27)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v18)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v9)
  (adjacent v3 v54)
  (adjacent v4 v60)
  (adjacent v5 v6)
  (adjacent v5 v13)
  (adjacent v5 v14)
  (adjacent v6 v7)
  (adjacent v6 v40)
  (adjacent v6 v83)
  (adjacent v7 v8)
  (adjacent v7 v19)
  (adjacent v7 v140)
  (adjacent v8 v26)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v26)
  (adjacent v11 v12)
  (adjacent v11 v196)
  (adjacent v12 v13)
  (adjacent v12 v30)
  (adjacent v12 v191)
  (adjacent v13 v67)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v43)
  (adjacent v16 v169)
  (adjacent v17 v18)
  (adjacent v17 v61)
  (adjacent v17 v88)
  (adjacent v17 v106)
  (adjacent v19 v20)
  (adjacent v19 v47)
  (adjacent v19 v135)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v146)
  (adjacent v22 v23)
  (adjacent v22 v41)
  (adjacent v23 v24)
  (adjacent v23 v31)
  (adjacent v24 v25)
  (adjacent v24 v44)
  (adjacent v24 v77)
  (adjacent v26 v33)
  (adjacent v27 v28)
  (adjacent v27 v46)
  (adjacent v28 v29)
  (adjacent v28 v99)
  (adjacent v28 v107)
  (adjacent v29 v30)
  (adjacent v29 v34)
  (adjacent v29 v98)
  (adjacent v30 v68)
  (adjacent v30 v163)
  (adjacent v31 v32)
  (adjacent v31 v92)
  (adjacent v31 v119)
  (adjacent v32 v33)
  (adjacent v32 v43)
  (adjacent v33 v113)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v42)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v162)
  (adjacent v38 v183)
  (adjacent v39 v40)
  (adjacent v39 v139)
  (adjacent v41 v42)
  (adjacent v41 v72)
  (adjacent v41 v79)
  (adjacent v41 v148)
  (adjacent v44 v45)
  (adjacent v44 v122)
  (adjacent v45 v46)
  (adjacent v45 v105)
  (adjacent v46 v53)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v118)
  (adjacent v51 v52)
  (adjacent v51 v104)
  (adjacent v51 v123)
  (adjacent v51 v134)
  (adjacent v52 v53)
  (adjacent v53 v73)
  (adjacent v53 v78)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v106)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v149)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v91)
  (adjacent v62 v145)
  (adjacent v63 v64)
  (adjacent v63 v105)
  (adjacent v63 v129)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v114)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v84)
  (adjacent v72 v78)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v137)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v79 v80)
  (adjacent v79 v136)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v81 v89)
  (adjacent v82 v83)
  (adjacent v84 v85)
  (adjacent v84 v154)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v93 v144)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v96 v180)
  (adjacent v97 v98)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v106 v160)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v114 v115)
  (adjacent v114 v159)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v116 v181)
  (adjacent v117 v118)
  (adjacent v119 v120)
  (adjacent v119 v184)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v123 v130)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v183)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v133 v190)
  (adjacent v134 v167)
  (adjacent v134 v168)
  (adjacent v134 v182)
  (adjacent v135 v136)
  (adjacent v136 v143)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v170)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v142 v175)
  (adjacent v144 v145)
  (adjacent v144 v155)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v160 v161)
  (adjacent v160 v174)
  (adjacent v161 v162)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v168 v169)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v179 v180)
  (adjacent v181 v182)
  (adjacent v184 v185)
  (adjacent v185 v186)
  (adjacent v186 v187)
  (adjacent v187 v188)
  (adjacent v188 v189)
  (adjacent v189 v190)
  (adjacent v191 v192)
  (adjacent v192 v193)
  (adjacent v193 v194)
  (adjacent v194 v195)
  (adjacent v195 v196)
 )
 (:goal
  (and
  (at r95 v0)
  (at r12 v1)
  (at r117 v2)
  (at r177 v3)
  (at r112 v4)
  (at r9 v5)
  (at r154 v6)
  (at r128 v7)
  (at r108 v8)
  (at r137 v9)
  (at r126 v10)
  (at r190 v11)
  (at r178 v12)
  (at r133 v13)
  (at r158 v14)
  (at r132 v15)
  (at r41 v16)
  (at r23 v17)
  (at r116 v18)
  (at r81 v19)
  (at r19 v20)
  (at r138 v21)
  (at r123 v22)
  (at r113 v23)
  (at r118 v24)
  (at r167 v25)
  (at r11 v26)
  (at r103 v27)
  (at r153 v28)
  (at r163 v29)
  (at r91 v30)
  (at r148 v31)
  (at r33 v32)
  (at r50 v33)
  (at r194 v34)
  (at r155 v35)
  (at r110 v36)
  (at r162 v37)
  (at r184 v38)
  (at r31 v39)
  (at r164 v40)
  (at r145 v41)
  (at r69 v42)
  (at r64 v43)
  (at r35 v44)
  (at r125 v45)
  (at r139 v46)
  (at r37 v47)
  (at r55 v48)
  (at r20 v49)
  (at r22 v50)
  (at r26 v51)
  (at r83 v52)
  (at r79 v53)
  (at r16 v54)
  (at r51 v55)
  (at r13 v56)
  (at r6 v57)
  (at r175 v58)
  (at r90 v59)
  (at r168 v60)
  (at r82 v61)
  (at r136 v62)
  (at r8 v63)
  (at r165 v64)
  (at r131 v65)
  (at r43 v66)
  (at r94 v67)
  (free v68)
  (at r34 v69)
  (at r107 v70)
  (at r191 v71)
  (at r174 v72)
  (at r59 v73)
  (at r65 v74)
  (at r120 v75)
  (at r2 v76)
  (at r66 v77)
  (at r176 v78)
  (at r142 v79)
  (at r14 v80)
  (at r152 v81)
  (at r58 v82)
  (at r105 v83)
  (at r80 v84)
  (at r46 v85)
  (at r140 v86)
  (at r62 v87)
  (at r15 v88)
  (at r161 v89)
  (at r157 v90)
  (at r100 v91)
  (at r121 v92)
  (at r72 v93)
  (at r169 v94)
  (at r185 v95)
  (at r24 v96)
  (at r114 v97)
  (at r29 v98)
  (at r36 v99)
  (at r60 v100)
  (at r173 v101)
  (at r71 v102)
  (at r189 v103)
  (at r172 v104)
  (at r149 v105)
  (at r86 v106)
  (at r53 v107)
  (at r192 v108)
  (at r195 v109)
  (at r141 v110)
  (at r88 v111)
  (at r127 v112)
  (at r102 v113)
  (at r4 v114)
  (at r159 v115)
  (free v116)
  (at r67 v117)
  (at r89 v118)
  (at r44 v119)
  (at r3 v120)
  (at r147 v121)
  (at r183 v122)
  (at r143 v123)
  (at r32 v124)
  (at r40 v125)
  (at r17 v126)
  (at r111 v127)
  (at r84 v128)
  (at r144 v129)
  (at r186 v130)
  (at r124 v131)
  (at r187 v132)
  (at r93 v133)
  (at r115 v134)
  (at r25 v135)
  (at r134 v136)
  (at r10 v137)
  (at r92 v138)
  (at r48 v139)
  (at r101 v140)
  (at r180 v141)
  (at r61 v142)
  (at r68 v143)
  (at r39 v144)
  (at r75 v145)
  (at r97 v146)
  (at r73 v147)
  (at r171 v148)
  (at r146 v149)
  (at r129 v150)
  (at r104 v151)
  (at r57 v152)
  (at r151 v153)
  (at r166 v154)
  (at r130 v155)
  (at r27 v156)
  (at r150 v157)
  (at r28 v158)
  (at r30 v159)
  (at r196 v160)
  (at r21 v161)
  (at r77 v162)
  (at r70 v163)
  (at r87 v164)
  (at r188 v165)
  (at r193 v166)
  (at r122 v167)
  (at r106 v168)
  (at r179 v169)
  (at r18 v170)
  (at r76 v171)
  (at r135 v172)
  (at r74 v173)
  (at r54 v174)
  (at r47 v175)
  (at r49 v176)
  (at r38 v177)
  (at r99 v178)
  (at r52 v179)
  (at r63 v180)
  (at r45 v181)
  (at r182 v182)
  (at r56 v183)
  (at r109 v184)
  (at r119 v185)
  (at r160 v186)
  (at r170 v187)
  (at r156 v188)
  (at r181 v189)
  (at r78 v190)
  (at r7 v191)
  (at r42 v192)
  (at r96 v193)
  (at r5 v194)
  (at r98 v195)
  (at r85 v196)
  )
 )
)