(define (problem multirobot_45_2_c5)
 (:domain multirobot)
 (:objects
  v0 r33
  v1 r135
  v2 r61
  v3 r138
  v4 r40
  v5 r154
  v6 r96
  v7 r52
  v8 r67
  v9 r26
  v10 r167
  v11 r129
  v12 r125
  v13 r152
  v14 r70
  v15 r116
  v16 r140
  v17 r136
  v18 r106
  v19 r4
  v20 r146
  v21 r149
  v22 r80
  v23 r117
  v24 r93
  v25 r66
  v26 r47
  v27 r148
  v28 r46
  v29 r88
  v30 r68
  v31 r45
  v32 r69
  v33 r11
  v34 r145
  v35 r122
  v36 r6
  v37 r60
  v38 r130
  v39 r104
  v40 r99
  v41 r120
  v42 r139
  v43 r27
  v44 r157
  v45 r134
  v46 r164
  v47 r133
  v48 r150
  v49 r78
  v50 r111
  v51 r29
  v52 r103
  v53 r123
  v54 r124
  v55 r83
  v56 r105
  v57 r63
  v58 r71
  v59 r112
  v60 r101
  v61 r166
  v62 r53
  v63 r10
  v64 r160
  v65 r143
  v66 r37
  v67 r131
  v68 r165
  v69 r126
  v70 r84
  v71 r24
  v72 r170
  v73 r38
  v74 r59
  v75 r171
  v76 r77
  v77 r30
  v78 r98
  v79 r75
  v80 r107
  v81 r49
  v82 r76
  v83 r74
  v84 r15
  v85 r51
  v86 r110
  v87 r23
  v88 r62
  v89 r100
  v90 r156
  v91 r2
  v92 r39
  v93 r89
  v94 r35
  v95 r97
  v96 r137
  v97 r17
  v98 r79
  v99 r65
  v100 r95
  v101 r132
  v102 r31
  v103 r8
  v104 r169
  v105 r90
  v106 r87
  v107 r113
  v108 r16
  v109 r147
  v110 r119
  v111 r158
  v112 r127
  v113
  v114 r114
  v115 r3
  v116 r22
  v117 r118
  v118 r48
  v119 r12
  v120 r14
  v121 r163
  v122 r56
  v123 r5
  v124 r153
  v125
  v126 r34
  v127 r81
  v128 r13
  v129 r18
  v130 r151
  v131 r20
  v132 r85
  v133 r128
  v134 r41
  v135 r9
  v136 r19
  v137 r91
  v138 r86
  v139 r55
  v140 r50
  v141 r144
  v142 r25
  v143 r102
  v144 r72
  v145 r44
  v146 r108
  v147 r109
  v148 r64
  v149 r43
  v150 r115
  v151 r168
  v152 r82
  v153 r159
  v154 r73
  v155 r42
  v156 r161
  v157 r57
  v158 r36
  v159 r28
  v160 r155
  v161 r162
  v162 r54
  v163 r7
  v164 r121
  v165 r21
  v166 r142
  v167 r58
  v168 r94
  v169 r92
  v170 r32
  v171 r141
 )
 (:init
  (at r33 v0)
  (at r135 v1)
  (at r61 v2)
  (at r138 v3)
  (at r40 v4)
  (at r154 v5)
  (at r96 v6)
  (at r52 v7)
  (at r67 v8)
  (at r26 v9)
  (at r167 v10)
  (at r129 v11)
  (at r125 v12)
  (at r152 v13)
  (at r70 v14)
  (at r116 v15)
  (at r140 v16)
  (at r136 v17)
  (at r106 v18)
  (at r4 v19)
  (at r146 v20)
  (at r149 v21)
  (at r80 v22)
  (at r117 v23)
  (at r93 v24)
  (at r66 v25)
  (at r47 v26)
  (at r148 v27)
  (at r46 v28)
  (at r88 v29)
  (at r68 v30)
  (at r45 v31)
  (at r69 v32)
  (at r11 v33)
  (at r145 v34)
  (at r122 v35)
  (at r6 v36)
  (at r60 v37)
  (at r130 v38)
  (at r104 v39)
  (at r99 v40)
  (at r120 v41)
  (at r139 v42)
  (at r27 v43)
  (at r157 v44)
  (at r134 v45)
  (at r164 v46)
  (at r133 v47)
  (at r150 v48)
  (at r78 v49)
  (at r111 v50)
  (at r29 v51)
  (at r103 v52)
  (at r123 v53)
  (at r124 v54)
  (at r83 v55)
  (at r105 v56)
  (at r63 v57)
  (at r71 v58)
  (at r112 v59)
  (at r101 v60)
  (at r166 v61)
  (at r53 v62)
  (at r10 v63)
  (at r160 v64)
  (at r143 v65)
  (at r37 v66)
  (at r131 v67)
  (at r165 v68)
  (at r126 v69)
  (at r84 v70)
  (at r24 v71)
  (at r170 v72)
  (at r38 v73)
  (at r59 v74)
  (at r171 v75)
  (at r77 v76)
  (at r30 v77)
  (at r98 v78)
  (at r75 v79)
  (at r107 v80)
  (at r49 v81)
  (at r76 v82)
  (at r74 v83)
  (at r15 v84)
  (at r51 v85)
  (at r110 v86)
  (at r23 v87)
  (at r62 v88)
  (at r100 v89)
  (at r156 v90)
  (at r2 v91)
  (at r39 v92)
  (at r89 v93)
  (at r35 v94)
  (at r97 v95)
  (at r137 v96)
  (at r17 v97)
  (at r79 v98)
  (at r65 v99)
  (at r95 v100)
  (at r132 v101)
  (at r31 v102)
  (at r8 v103)
  (at r169 v104)
  (at r90 v105)
  (at r87 v106)
  (at r113 v107)
  (at r16 v108)
  (at r147 v109)
  (at r119 v110)
  (at r158 v111)
  (at r127 v112)
  (free v113)
  (at r114 v114)
  (at r3 v115)
  (at r22 v116)
  (at r118 v117)
  (at r48 v118)
  (at r12 v119)
  (at r14 v120)
  (at r163 v121)
  (at r56 v122)
  (at r5 v123)
  (at r153 v124)
  (free v125)
  (at r34 v126)
  (at r81 v127)
  (at r13 v128)
  (at r18 v129)
  (at r151 v130)
  (at r20 v131)
  (at r85 v132)
  (at r128 v133)
  (at r41 v134)
  (at r9 v135)
  (at r19 v136)
  (at r91 v137)
  (at r86 v138)
  (at r55 v139)
  (at r50 v140)
  (at r144 v141)
  (at r25 v142)
  (at r102 v143)
  (at r72 v144)
  (at r44 v145)
  (at r108 v146)
  (at r109 v147)
  (at r64 v148)
  (at r43 v149)
  (at r115 v150)
  (at r168 v151)
  (at r82 v152)
  (at r159 v153)
  (at r73 v154)
  (at r42 v155)
  (at r161 v156)
  (at r57 v157)
  (at r36 v158)
  (at r28 v159)
  (at r155 v160)
  (at r162 v161)
  (at r54 v162)
  (at r7 v163)
  (at r121 v164)
  (at r21 v165)
  (at r142 v166)
  (at r58 v167)
  (at r94 v168)
  (at r92 v169)
  (at r32 v170)
  (at r141 v171)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v46)
  (adjacent v0 v72)
  (adjacent v0 v89)
  (adjacent v1 v2)
  (adjacent v1 v139)
  (adjacent v2 v3)
  (adjacent v2 v11)
  (adjacent v2 v21)
  (adjacent v2 v28)
  (adjacent v3 v4)
  (adjacent v3 v13)
  (adjacent v3 v19)
  (adjacent v3 v58)
  (adjacent v3 v101)
  (adjacent v4 v5)
  (adjacent v5 v6)
  (adjacent v5 v52)
  (adjacent v6 v7)
  (adjacent v6 v12)
  (adjacent v6 v39)
  (adjacent v6 v48)
  (adjacent v7 v8)
  (adjacent v7 v26)
  (adjacent v7 v41)
  (adjacent v8 v9)
  (adjacent v8 v14)
  (adjacent v8 v49)
  (adjacent v8 v127)
  (adjacent v9 v10)
  (adjacent v9 v12)
  (adjacent v9 v42)
  (adjacent v10 v11)
  (adjacent v10 v38)
  (adjacent v10 v122)
  (adjacent v11 v20)
  (adjacent v11 v28)
  (adjacent v11 v47)
  (adjacent v12 v15)
  (adjacent v12 v68)
  (adjacent v12 v84)
  (adjacent v12 v100)
  (adjacent v12 v105)
  (adjacent v13 v14)
  (adjacent v13 v20)
  (adjacent v13 v21)
  (adjacent v13 v33)
  (adjacent v13 v156)
  (adjacent v14 v27)
  (adjacent v14 v29)
  (adjacent v14 v51)
  (adjacent v14 v65)
  (adjacent v14 v85)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v22)
  (adjacent v16 v67)
  (adjacent v17 v18)
  (adjacent v17 v57)
  (adjacent v18 v19)
  (adjacent v20 v27)
  (adjacent v22 v23)
  (adjacent v22 v155)
  (adjacent v22 v157)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v85)
  (adjacent v27 v64)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v88)
  (adjacent v30 v121)
  (adjacent v31 v32)
  (adjacent v31 v34)
  (adjacent v32 v33)
  (adjacent v33 v151)
  (adjacent v33 v164)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v91)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v112)
  (adjacent v45 v113)
  (adjacent v47 v48)
  (adjacent v47 v106)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v108)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v53 v151)
  (adjacent v54 v55)
  (adjacent v54 v92)
  (adjacent v55 v56)
  (adjacent v55 v79)
  (adjacent v55 v98)
  (adjacent v56 v57)
  (adjacent v56 v114)
  (adjacent v58 v59)
  (adjacent v58 v78)
  (adjacent v59 v60)
  (adjacent v59 v73)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v132)
  (adjacent v63 v64)
  (adjacent v63 v163)
  (adjacent v64 v133)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v66 v86)
  (adjacent v66 v97)
  (adjacent v66 v107)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v73 v74)
  (adjacent v73 v126)
  (adjacent v73 v133)
  (adjacent v74 v75)
  (adjacent v74 v105)
  (adjacent v74 v141)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v104)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v94 v150)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v105 v115)
  (adjacent v105 v165)
  (adjacent v106 v107)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v113 v114)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v116 v134)
  (adjacent v117 v118)
  (adjacent v117 v147)
  (adjacent v118 v119)
  (adjacent v118 v164)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v120 v152)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v138)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v133 v148)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v135 v140)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v137 v154)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v171)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v155 v156)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v170 v171)
 )
 (:goal
  (and
  (at r155 v0)
  (at r169 v1)
  (at r102 v2)
  (at r25 v3)
  (at r60 v4)
  (at r62 v5)
  (at r162 v6)
  (at r55 v7)
  (at r113 v8)
  (at r71 v9)
  (at r84 v10)
  (at r171 v11)
  (at r3 v12)
  (at r69 v13)
  (at r76 v14)
  (at r117 v15)
  (at r37 v16)
  (at r139 v17)
  (at r103 v18)
  (at r92 v19)
  (at r9 v20)
  (at r100 v21)
  (at r143 v22)
  (at r151 v23)
  (at r50 v24)
  (at r163 v25)
  (at r134 v26)
  (at r77 v27)
  (at r21 v28)
  (at r57 v29)
  (at r58 v30)
  (at r82 v31)
  (at r137 v32)
  (at r42 v33)
  (at r18 v34)
  (at r156 v35)
  (at r34 v36)
  (at r118 v37)
  (at r32 v38)
  (at r95 v39)
  (at r129 v40)
  (at r6 v41)
  (at r67 v42)
  (at r87 v43)
  (at r148 v44)
  (at r33 v45)
  (at r72 v46)
  (at r19 v47)
  (at r126 v48)
  (at r124 v49)
  (at r146 v50)
  (at r16 v51)
  (at r98 v52)
  (at r167 v53)
  (at r107 v54)
  (at r142 v55)
  (at r110 v56)
  (at r15 v57)
  (at r109 v58)
  (at r79 v59)
  (at r53 v60)
  (at r52 v61)
  (at r168 v62)
  (at r29 v63)
  (at r145 v64)
  (at r75 v65)
  (at r91 v66)
  (at r157 v67)
  (at r41 v68)
  (at r30 v69)
  (at r165 v70)
  (at r160 v71)
  (at r136 v72)
  (at r51 v73)
  (at r70 v74)
  (at r54 v75)
  (at r5 v76)
  (at r144 v77)
  (at r97 v78)
  (at r36 v79)
  (at r44 v80)
  (at r125 v81)
  (at r88 v82)
  (at r119 v83)
  (at r152 v84)
  (at r64 v85)
  (at r127 v86)
  (at r81 v87)
  (at r116 v88)
  (at r147 v89)
  (at r10 v90)
  (at r150 v91)
  (at r35 v92)
  (at r164 v93)
  (at r138 v94)
  (at r115 v95)
  (at r101 v96)
  (at r135 v97)
  (at r11 v98)
  (at r46 v99)
  (at r130 v100)
  (free v101)
  (at r13 v102)
  (at r122 v103)
  (at r61 v104)
  (at r17 v105)
  (at r112 v106)
  (at r104 v107)
  (at r4 v108)
  (at r74 v109)
  (at r49 v110)
  (at r153 v111)
  (at r68 v112)
  (at r105 v113)
  (at r89 v114)
  (at r149 v115)
  (at r166 v116)
  (at r158 v117)
  (at r66 v118)
  (at r93 v119)
  (at r40 v120)
  (at r94 v121)
  (at r8 v122)
  (at r83 v123)
  (at r48 v124)
  (at r43 v125)
  (at r133 v126)
  (at r96 v127)
  (at r132 v128)
  (at r56 v129)
  (at r114 v130)
  (at r26 v131)
  (at r106 v132)
  (at r159 v133)
  (at r59 v134)
  (at r14 v135)
  (at r12 v136)
  (at r28 v137)
  (at r154 v138)
  (at r121 v139)
  (at r22 v140)
  (at r131 v141)
  (at r2 v142)
  (at r86 v143)
  (at r45 v144)
  (at r141 v145)
  (at r90 v146)
  (at r73 v147)
  (at r120 v148)
  (at r23 v149)
  (at r85 v150)
  (at r47 v151)
  (at r123 v152)
  (at r108 v153)
  (at r170 v154)
  (at r80 v155)
  (at r161 v156)
  (at r39 v157)
  (at r99 v158)
  (at r27 v159)
  (at r31 v160)
  (at r128 v161)
  (at r24 v162)
  (at r20 v163)
  (at r38 v164)
  (at r111 v165)
  (at r63 v166)
  (at r65 v167)
  (free v168)
  (at r7 v169)
  (at r78 v170)
  (at r140 v171)
  )
 )
)