(define (problem multirobot_46_2_c2)
 (:domain multirobot)
 (:objects
  v0 r77
  v1 r114
  v2 r161
  v3 r9
  v4 r10
  v5 r112
  v6 r106
  v7 r55
  v8 r152
  v9 r132
  v10 r170
  v11 r83
  v12 r13
  v13 r31
  v14 r110
  v15 r128
  v16 r94
  v17 r49
  v18 r32
  v19 r98
  v20 r73
  v21 r130
  v22 r70
  v23 r72
  v24 r157
  v25 r172
  v26 r139
  v27 r159
  v28 r24
  v29 r119
  v30 r107
  v31 r4
  v32 r30
  v33 r43
  v34 r11
  v35 r45
  v36 r19
  v37 r42
  v38 r111
  v39 r58
  v40 r53
  v41 r60
  v42 r88
  v43 r140
  v44 r15
  v45 r74
  v46 r87
  v47 r93
  v48 r50
  v49 r133
  v50 r38
  v51 r136
  v52 r82
  v53 r105
  v54 r124
  v55 r46
  v56 r156
  v57 r76
  v58 r17
  v59 r149
  v60 r147
  v61 r61
  v62 r134
  v63 r16
  v64 r80
  v65 r78
  v66 r67
  v67 r141
  v68 r39
  v69 r52
  v70 r89
  v71 r12
  v72 r160
  v73 r3
  v74 r14
  v75 r108
  v76 r92
  v77 r101
  v78 r118
  v79 r127
  v80 r158
  v81 r54
  v82 r131
  v83 r86
  v84 r91
  v85 r81
  v86 r71
  v87 r69
  v88 r41
  v89 r28
  v90 r121
  v91 r115
  v92 r125
  v93 r145
  v94 r168
  v95 r113
  v96 r27
  v97 r68
  v98 r35
  v99 r148
  v100 r51
  v101 r22
  v102 r21
  v103 r123
  v104 r84
  v105 r5
  v106 r20
  v107 r63
  v108 r162
  v109 r96
  v110 r117
  v111 r62
  v112 r102
  v113 r95
  v114 r56
  v115 r137
  v116 r65
  v117 r47
  v118
  v119 r169
  v120 r2
  v121 r135
  v122 r18
  v123 r109
  v124 r99
  v125 r138
  v126 r40
  v127 r33
  v128 r23
  v129
  v130 r146
  v131 r166
  v132 r116
  v133 r155
  v134 r144
  v135 r100
  v136 r164
  v137 r48
  v138 r163
  v139 r25
  v140 r90
  v141 r153
  v142 r34
  v143 r154
  v144 r57
  v145 r167
  v146 r165
  v147 r79
  v148 r66
  v149 r37
  v150 r103
  v151 r26
  v152 r143
  v153 r64
  v154 r44
  v155 r171
  v156 r29
  v157 r97
  v158 r85
  v159 r126
  v160 r8
  v161 r129
  v162 r36
  v163 r75
  v164 r122
  v165 r104
  v166 r7
  v167 r6
  v168 r151
  v169 r150
  v170 r142
  v171 r59
  v172 r120
 )
 (:init
  (at r77 v0)
  (at r114 v1)
  (at r161 v2)
  (at r9 v3)
  (at r10 v4)
  (at r112 v5)
  (at r106 v6)
  (at r55 v7)
  (at r152 v8)
  (at r132 v9)
  (at r170 v10)
  (at r83 v11)
  (at r13 v12)
  (at r31 v13)
  (at r110 v14)
  (at r128 v15)
  (at r94 v16)
  (at r49 v17)
  (at r32 v18)
  (at r98 v19)
  (at r73 v20)
  (at r130 v21)
  (at r70 v22)
  (at r72 v23)
  (at r157 v24)
  (at r172 v25)
  (at r139 v26)
  (at r159 v27)
  (at r24 v28)
  (at r119 v29)
  (at r107 v30)
  (at r4 v31)
  (at r30 v32)
  (at r43 v33)
  (at r11 v34)
  (at r45 v35)
  (at r19 v36)
  (at r42 v37)
  (at r111 v38)
  (at r58 v39)
  (at r53 v40)
  (at r60 v41)
  (at r88 v42)
  (at r140 v43)
  (at r15 v44)
  (at r74 v45)
  (at r87 v46)
  (at r93 v47)
  (at r50 v48)
  (at r133 v49)
  (at r38 v50)
  (at r136 v51)
  (at r82 v52)
  (at r105 v53)
  (at r124 v54)
  (at r46 v55)
  (at r156 v56)
  (at r76 v57)
  (at r17 v58)
  (at r149 v59)
  (at r147 v60)
  (at r61 v61)
  (at r134 v62)
  (at r16 v63)
  (at r80 v64)
  (at r78 v65)
  (at r67 v66)
  (at r141 v67)
  (at r39 v68)
  (at r52 v69)
  (at r89 v70)
  (at r12 v71)
  (at r160 v72)
  (at r3 v73)
  (at r14 v74)
  (at r108 v75)
  (at r92 v76)
  (at r101 v77)
  (at r118 v78)
  (at r127 v79)
  (at r158 v80)
  (at r54 v81)
  (at r131 v82)
  (at r86 v83)
  (at r91 v84)
  (at r81 v85)
  (at r71 v86)
  (at r69 v87)
  (at r41 v88)
  (at r28 v89)
  (at r121 v90)
  (at r115 v91)
  (at r125 v92)
  (at r145 v93)
  (at r168 v94)
  (at r113 v95)
  (at r27 v96)
  (at r68 v97)
  (at r35 v98)
  (at r148 v99)
  (at r51 v100)
  (at r22 v101)
  (at r21 v102)
  (at r123 v103)
  (at r84 v104)
  (at r5 v105)
  (at r20 v106)
  (at r63 v107)
  (at r162 v108)
  (at r96 v109)
  (at r117 v110)
  (at r62 v111)
  (at r102 v112)
  (at r95 v113)
  (at r56 v114)
  (at r137 v115)
  (at r65 v116)
  (at r47 v117)
  (free v118)
  (at r169 v119)
  (at r2 v120)
  (at r135 v121)
  (at r18 v122)
  (at r109 v123)
  (at r99 v124)
  (at r138 v125)
  (at r40 v126)
  (at r33 v127)
  (at r23 v128)
  (free v129)
  (at r146 v130)
  (at r166 v131)
  (at r116 v132)
  (at r155 v133)
  (at r144 v134)
  (at r100 v135)
  (at r164 v136)
  (at r48 v137)
  (at r163 v138)
  (at r25 v139)
  (at r90 v140)
  (at r153 v141)
  (at r34 v142)
  (at r154 v143)
  (at r57 v144)
  (at r167 v145)
  (at r165 v146)
  (at r79 v147)
  (at r66 v148)
  (at r37 v149)
  (at r103 v150)
  (at r26 v151)
  (at r143 v152)
  (at r64 v153)
  (at r44 v154)
  (at r171 v155)
  (at r29 v156)
  (at r97 v157)
  (at r85 v158)
  (at r126 v159)
  (at r8 v160)
  (at r129 v161)
  (at r36 v162)
  (at r75 v163)
  (at r122 v164)
  (at r104 v165)
  (at r7 v166)
  (at r6 v167)
  (at r151 v168)
  (at r150 v169)
  (at r142 v170)
  (at r59 v171)
  (at r120 v172)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v17)
  (adjacent v1 v2)
  (adjacent v1 v10)
  (adjacent v1 v15)
  (adjacent v1 v109)
  (adjacent v1 v113)
  (adjacent v2 v3)
  (adjacent v2 v144)
  (adjacent v3 v4)
  (adjacent v4 v5)
  (adjacent v4 v51)
  (adjacent v5 v6)
  (adjacent v5 v92)
  (adjacent v6 v7)
  (adjacent v6 v11)
  (adjacent v6 v61)
  (adjacent v6 v70)
  (adjacent v6 v171)
  (adjacent v7 v8)
  (adjacent v7 v27)
  (adjacent v7 v125)
  (adjacent v8 v9)
  (adjacent v8 v26)
  (adjacent v9 v10)
  (adjacent v9 v16)
  (adjacent v10 v62)
  (adjacent v10 v101)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v12 v35)
  (adjacent v12 v41)
  (adjacent v12 v47)
  (adjacent v12 v165)
  (adjacent v13 v14)
  (adjacent v13 v78)
  (adjacent v14 v15)
  (adjacent v14 v25)
  (adjacent v14 v54)
  (adjacent v15 v19)
  (adjacent v15 v20)
  (adjacent v15 v47)
  (adjacent v15 v162)
  (adjacent v16 v17)
  (adjacent v16 v18)
  (adjacent v16 v28)
  (adjacent v16 v50)
  (adjacent v16 v64)
  (adjacent v17 v87)
  (adjacent v17 v88)
  (adjacent v17 v154)
  (adjacent v18 v19)
  (adjacent v19 v46)
  (adjacent v20 v21)
  (adjacent v20 v145)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v95)
  (adjacent v23 v24)
  (adjacent v23 v40)
  (adjacent v24 v25)
  (adjacent v25 v34)
  (adjacent v25 v80)
  (adjacent v26 v27)
  (adjacent v26 v40)
  (adjacent v28 v29)
  (adjacent v28 v58)
  (adjacent v29 v30)
  (adjacent v29 v39)
  (adjacent v29 v124)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v82)
  (adjacent v33 v122)
  (adjacent v34 v161)
  (adjacent v35 v36)
  (adjacent v35 v79)
  (adjacent v35 v153)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v48)
  (adjacent v38 v114)
  (adjacent v39 v81)
  (adjacent v41 v42)
  (adjacent v41 v79)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v67)
  (adjacent v47 v59)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v63)
  (adjacent v51 v52)
  (adjacent v51 v113)
  (adjacent v52 v53)
  (adjacent v52 v77)
  (adjacent v53 v54)
  (adjacent v53 v70)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v78)
  (adjacent v55 v142)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v170)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v103)
  (adjacent v62 v63)
  (adjacent v64 v65)
  (adjacent v64 v68)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v66 v69)
  (adjacent v67 v71)
  (adjacent v68 v69)
  (adjacent v68 v134)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v72 v94)
  (adjacent v72 v148)
  (adjacent v72 v172)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v102)
  (adjacent v80 v81)
  (adjacent v81 v93)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v104)
  (adjacent v86 v87)
  (adjacent v86 v169)
  (adjacent v88 v89)
  (adjacent v88 v110)
  (adjacent v88 v135)
  (adjacent v88 v149)
  (adjacent v89 v90)
  (adjacent v89 v118)
  (adjacent v90 v91)
  (adjacent v90 v123)
  (adjacent v91 v92)
  (adjacent v93 v94)
  (adjacent v93 v119)
  (adjacent v93 v170)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v99 v141)
  (adjacent v100 v101)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v104 v131)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v106 v112)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v116 v132)
  (adjacent v117 v118)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v127 v164)
  (adjacent v128 v129)
  (adjacent v128 v155)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v154 v155)
  (adjacent v154 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v171 v172)
 )
 (:goal
  (and
  (at r32 v0)
  (at r8 v1)
  (at r94 v2)
  (at r141 v3)
  (at r58 v4)
  (at r95 v5)
  (at r62 v6)
  (at r162 v7)
  (at r125 v8)
  (at r27 v9)
  (at r170 v10)
  (at r37 v11)
  (at r19 v12)
  (at r28 v13)
  (at r15 v14)
  (at r77 v15)
  (at r123 v16)
  (at r171 v17)
  (at r130 v18)
  (at r124 v19)
  (at r126 v20)
  (at r86 v21)
  (at r35 v22)
  (at r61 v23)
  (at r78 v24)
  (at r131 v25)
  (at r107 v26)
  (at r33 v27)
  (at r36 v28)
  (at r50 v29)
  (at r161 v30)
  (at r71 v31)
  (at r20 v32)
  (at r148 v33)
  (at r39 v34)
  (at r93 v35)
  (at r40 v36)
  (at r53 v37)
  (at r166 v38)
  (at r49 v39)
  (at r154 v40)
  (at r136 v41)
  (at r99 v42)
  (at r140 v43)
  (at r73 v44)
  (at r7 v45)
  (at r14 v46)
  (at r4 v47)
  (at r55 v48)
  (at r155 v49)
  (at r156 v50)
  (at r127 v51)
  (at r152 v52)
  (at r98 v53)
  (at r112 v54)
  (at r165 v55)
  (at r63 v56)
  (free v57)
  (at r75 v58)
  (at r3 v59)
  (at r6 v60)
  (at r16 v61)
  (at r59 v62)
  (at r158 v63)
  (at r92 v64)
  (at r142 v65)
  (at r168 v66)
  (at r109 v67)
  (at r146 v68)
  (at r60 v69)
  (at r97 v70)
  (at r133 v71)
  (at r129 v72)
  (at r2 v73)
  (at r119 v74)
  (at r160 v75)
  (at r41 v76)
  (at r29 v77)
  (at r48 v78)
  (at r81 v79)
  (at r145 v80)
  (at r67 v81)
  (at r31 v82)
  (at r18 v83)
  (at r69 v84)
  (at r66 v85)
  (at r64 v86)
  (at r157 v87)
  (at r24 v88)
  (at r114 v89)
  (at r23 v90)
  (at r51 v91)
  (at r144 v92)
  (at r167 v93)
  (at r80 v94)
  (at r12 v95)
  (at r22 v96)
  (free v97)
  (at r135 v98)
  (at r84 v99)
  (at r70 v100)
  (at r105 v101)
  (at r113 v102)
  (at r147 v103)
  (at r76 v104)
  (at r38 v105)
  (at r83 v106)
  (at r117 v107)
  (at r56 v108)
  (at r89 v109)
  (at r90 v110)
  (at r111 v111)
  (at r72 v112)
  (at r74 v113)
  (at r122 v114)
  (at r34 v115)
  (at r149 v116)
  (at r134 v117)
  (at r151 v118)
  (at r103 v119)
  (at r164 v120)
  (at r82 v121)
  (at r91 v122)
  (at r5 v123)
  (at r52 v124)
  (at r137 v125)
  (at r46 v126)
  (at r25 v127)
  (at r143 v128)
  (at r9 v129)
  (at r47 v130)
  (at r163 v131)
  (at r139 v132)
  (at r120 v133)
  (at r88 v134)
  (at r169 v135)
  (at r121 v136)
  (at r42 v137)
  (at r26 v138)
  (at r85 v139)
  (at r44 v140)
  (at r102 v141)
  (at r43 v142)
  (at r132 v143)
  (at r57 v144)
  (at r104 v145)
  (at r17 v146)
  (at r116 v147)
  (at r159 v148)
  (at r110 v149)
  (at r10 v150)
  (at r11 v151)
  (at r118 v152)
  (at r128 v153)
  (at r153 v154)
  (at r21 v155)
  (at r115 v156)
  (at r87 v157)
  (at r138 v158)
  (at r100 v159)
  (at r101 v160)
  (at r65 v161)
  (at r106 v162)
  (at r150 v163)
  (at r45 v164)
  (at r172 v165)
  (at r30 v166)
  (at r108 v167)
  (at r13 v168)
  (at r54 v169)
  (at r79 v170)
  (at r68 v171)
  (at r96 v172)
  )
 )
)