(define (problem multirobot_46_2_c4)
 (:domain multirobot)
 (:objects
  v0 r16
  v1 r48
  v2 r120
  v3 r110
  v4 r12
  v5 r24
  v6 r76
  v7 r141
  v8 r32
  v9 r6
  v10 r163
  v11 r107
  v12 r147
  v13 r111
  v14 r167
  v15 r179
  v16 r58
  v17 r152
  v18 r17
  v19 r69
  v20 r46
  v21 r8
  v22 r80
  v23 r124
  v24 r117
  v25 r161
  v26 r148
  v27 r139
  v28 r101
  v29 r93
  v30 r19
  v31 r135
  v32 r178
  v33 r189
  v34 r56
  v35 r35
  v36 r54
  v37 r25
  v38 r44
  v39 r98
  v40 r115
  v41 r119
  v42 r51
  v43 r37
  v44 r72
  v45 r180
  v46 r123
  v47 r21
  v48 r137
  v49 r138
  v50 r67
  v51 r84
  v52 r174
  v53 r96
  v54 r92
  v55 r156
  v56 r181
  v57 r7
  v58 r78
  v59 r83
  v60 r3
  v61 r66
  v62 r95
  v63 r23
  v64 r130
  v65 r114
  v66 r50
  v67 r109
  v68 r45
  v69 r166
  v70 r30
  v71 r39
  v72 r140
  v73 r34
  v74 r186
  v75 r97
  v76 r142
  v77 r14
  v78 r106
  v79 r150
  v80 r153
  v81 r18
  v82 r182
  v83 r26
  v84 r63
  v85 r42
  v86 r86
  v87 r168
  v88 r122
  v89 r128
  v90 r154
  v91 r22
  v92 r171
  v93 r62
  v94 r131
  v95 r43
  v96 r146
  v97 r129
  v98 r4
  v99 r89
  v100 r91
  v101 r116
  v102 r155
  v103 r183
  v104 r2
  v105 r52
  v106 r79
  v107 r13
  v108 r28
  v109 r82
  v110 r126
  v111 r112
  v112 r102
  v113 r170
  v114 r31
  v115 r15
  v116 r61
  v117 r151
  v118 r27
  v119 r38
  v120
  v121 r118
  v122 r55
  v123 r77
  v124 r160
  v125 r162
  v126 r121
  v127 r68
  v128 r9
  v129 r81
  v130 r188
  v131 r184
  v132 r133
  v133 r70
  v134 r20
  v135 r125
  v136 r5
  v137 r127
  v138
  v139 r75
  v140 r100
  v141 r172
  v142 r176
  v143 r113
  v144 r165
  v145 r49
  v146 r94
  v147 r87
  v148 r47
  v149 r136
  v150 r149
  v151 r157
  v152 r187
  v153 r108
  v154 r90
  v155 r159
  v156 r33
  v157 r173
  v158 r85
  v159 r175
  v160 r57
  v161 r71
  v162 r177
  v163 r64
  v164 r11
  v165 r185
  v166 r158
  v167 r144
  v168 r74
  v169 r164
  v170 r169
  v171 r65
  v172 r104
  v173 r99
  v174 r53
  v175 r10
  v176 r41
  v177 r59
  v178 r60
  v179 r73
  v180 r29
  v181 r103
  v182 r134
  v183 r145
  v184 r132
  v185 r88
  v186 r40
  v187 r143
  v188 r105
  v189 r36
 )
 (:init
  (at r16 v0)
  (at r48 v1)
  (at r120 v2)
  (at r110 v3)
  (at r12 v4)
  (at r24 v5)
  (at r76 v6)
  (at r141 v7)
  (at r32 v8)
  (at r6 v9)
  (at r163 v10)
  (at r107 v11)
  (at r147 v12)
  (at r111 v13)
  (at r167 v14)
  (at r179 v15)
  (at r58 v16)
  (at r152 v17)
  (at r17 v18)
  (at r69 v19)
  (at r46 v20)
  (at r8 v21)
  (at r80 v22)
  (at r124 v23)
  (at r117 v24)
  (at r161 v25)
  (at r148 v26)
  (at r139 v27)
  (at r101 v28)
  (at r93 v29)
  (at r19 v30)
  (at r135 v31)
  (at r178 v32)
  (at r189 v33)
  (at r56 v34)
  (at r35 v35)
  (at r54 v36)
  (at r25 v37)
  (at r44 v38)
  (at r98 v39)
  (at r115 v40)
  (at r119 v41)
  (at r51 v42)
  (at r37 v43)
  (at r72 v44)
  (at r180 v45)
  (at r123 v46)
  (at r21 v47)
  (at r137 v48)
  (at r138 v49)
  (at r67 v50)
  (at r84 v51)
  (at r174 v52)
  (at r96 v53)
  (at r92 v54)
  (at r156 v55)
  (at r181 v56)
  (at r7 v57)
  (at r78 v58)
  (at r83 v59)
  (at r3 v60)
  (at r66 v61)
  (at r95 v62)
  (at r23 v63)
  (at r130 v64)
  (at r114 v65)
  (at r50 v66)
  (at r109 v67)
  (at r45 v68)
  (at r166 v69)
  (at r30 v70)
  (at r39 v71)
  (at r140 v72)
  (at r34 v73)
  (at r186 v74)
  (at r97 v75)
  (at r142 v76)
  (at r14 v77)
  (at r106 v78)
  (at r150 v79)
  (at r153 v80)
  (at r18 v81)
  (at r182 v82)
  (at r26 v83)
  (at r63 v84)
  (at r42 v85)
  (at r86 v86)
  (at r168 v87)
  (at r122 v88)
  (at r128 v89)
  (at r154 v90)
  (at r22 v91)
  (at r171 v92)
  (at r62 v93)
  (at r131 v94)
  (at r43 v95)
  (at r146 v96)
  (at r129 v97)
  (at r4 v98)
  (at r89 v99)
  (at r91 v100)
  (at r116 v101)
  (at r155 v102)
  (at r183 v103)
  (at r2 v104)
  (at r52 v105)
  (at r79 v106)
  (at r13 v107)
  (at r28 v108)
  (at r82 v109)
  (at r126 v110)
  (at r112 v111)
  (at r102 v112)
  (at r170 v113)
  (at r31 v114)
  (at r15 v115)
  (at r61 v116)
  (at r151 v117)
  (at r27 v118)
  (at r38 v119)
  (free v120)
  (at r118 v121)
  (at r55 v122)
  (at r77 v123)
  (at r160 v124)
  (at r162 v125)
  (at r121 v126)
  (at r68 v127)
  (at r9 v128)
  (at r81 v129)
  (at r188 v130)
  (at r184 v131)
  (at r133 v132)
  (at r70 v133)
  (at r20 v134)
  (at r125 v135)
  (at r5 v136)
  (at r127 v137)
  (free v138)
  (at r75 v139)
  (at r100 v140)
  (at r172 v141)
  (at r176 v142)
  (at r113 v143)
  (at r165 v144)
  (at r49 v145)
  (at r94 v146)
  (at r87 v147)
  (at r47 v148)
  (at r136 v149)
  (at r149 v150)
  (at r157 v151)
  (at r187 v152)
  (at r108 v153)
  (at r90 v154)
  (at r159 v155)
  (at r33 v156)
  (at r173 v157)
  (at r85 v158)
  (at r175 v159)
  (at r57 v160)
  (at r71 v161)
  (at r177 v162)
  (at r64 v163)
  (at r11 v164)
  (at r185 v165)
  (at r158 v166)
  (at r144 v167)
  (at r74 v168)
  (at r164 v169)
  (at r169 v170)
  (at r65 v171)
  (at r104 v172)
  (at r99 v173)
  (at r53 v174)
  (at r10 v175)
  (at r41 v176)
  (at r59 v177)
  (at r60 v178)
  (at r73 v179)
  (at r29 v180)
  (at r103 v181)
  (at r134 v182)
  (at r145 v183)
  (at r132 v184)
  (at r88 v185)
  (at r40 v186)
  (at r143 v187)
  (at r105 v188)
  (at r36 v189)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v19)
  (adjacent v0 v27)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v2 v3)
  (adjacent v2 v7)
  (adjacent v2 v20)
  (adjacent v2 v52)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v3 v41)
  (adjacent v3 v73)
  (adjacent v3 v121)
  (adjacent v4 v5)
  (adjacent v4 v8)
  (adjacent v4 v79)
  (adjacent v4 v151)
  (adjacent v5 v13)
  (adjacent v5 v14)
  (adjacent v5 v92)
  (adjacent v6 v7)
  (adjacent v6 v40)
  (adjacent v6 v100)
  (adjacent v6 v122)
  (adjacent v8 v9)
  (adjacent v8 v20)
  (adjacent v8 v21)
  (adjacent v8 v148)
  (adjacent v9 v10)
  (adjacent v9 v17)
  (adjacent v10 v11)
  (adjacent v10 v33)
  (adjacent v10 v38)
  (adjacent v10 v51)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v14 v15)
  (adjacent v14 v18)
  (adjacent v14 v28)
  (adjacent v14 v143)
  (adjacent v14 v179)
  (adjacent v15 v16)
  (adjacent v15 v47)
  (adjacent v16 v17)
  (adjacent v16 v32)
  (adjacent v16 v108)
  (adjacent v17 v37)
  (adjacent v18 v19)
  (adjacent v18 v74)
  (adjacent v19 v37)
  (adjacent v19 v97)
  (adjacent v20 v59)
  (adjacent v20 v65)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v36)
  (adjacent v23 v24)
  (adjacent v23 v89)
  (adjacent v23 v172)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v149)
  (adjacent v26 v27)
  (adjacent v28 v29)
  (adjacent v28 v114)
  (adjacent v29 v30)
  (adjacent v29 v64)
  (adjacent v29 v133)
  (adjacent v29 v142)
  (adjacent v29 v148)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v48)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v36 v78)
  (adjacent v38 v39)
  (adjacent v38 v58)
  (adjacent v39 v40)
  (adjacent v40 v173)
  (adjacent v41 v42)
  (adjacent v41 v63)
  (adjacent v41 v107)
  (adjacent v41 v166)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v165)
  (adjacent v46 v47)
  (adjacent v47 v152)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v98)
  (adjacent v51 v90)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v66)
  (adjacent v56 v57)
  (adjacent v56 v64)
  (adjacent v56 v67)
  (adjacent v57 v58)
  (adjacent v57 v106)
  (adjacent v58 v103)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v129)
  (adjacent v64 v153)
  (adjacent v65 v66)
  (adjacent v65 v185)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v84)
  (adjacent v72 v73)
  (adjacent v72 v85)
  (adjacent v73 v104)
  (adjacent v74 v75)
  (adjacent v74 v173)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v79 v80)
  (adjacent v79 v147)
  (adjacent v80 v81)
  (adjacent v80 v101)
  (adjacent v80 v128)
  (adjacent v81 v82)
  (adjacent v81 v132)
  (adjacent v82 v83)
  (adjacent v82 v160)
  (adjacent v83 v84)
  (adjacent v83 v154)
  (adjacent v84 v174)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v88 v107)
  (adjacent v90 v91)
  (adjacent v90 v93)
  (adjacent v91 v92)
  (adjacent v91 v115)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v115 v116)
  (adjacent v115 v161)
  (adjacent v115 v180)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v119 v140)
  (adjacent v120 v121)
  (adjacent v120 v186)
  (adjacent v122 v123)
  (adjacent v122 v139)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v124 v189)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v131 v181)
  (adjacent v132 v168)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v152 v153)
  (adjacent v152 v167)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v158 v180)
  (adjacent v159 v160)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v166 v167)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v181 v182)
  (adjacent v182 v183)
  (adjacent v183 v184)
  (adjacent v184 v185)
  (adjacent v186 v187)
  (adjacent v187 v188)
  (adjacent v188 v189)
 )
 (:goal
  (and
  (at r38 v0)
  (at r8 v1)
  (at r76 v2)
  (at r132 v3)
  (at r180 v4)
  (at r62 v5)
  (at r7 v6)
  (at r181 v7)
  (at r78 v8)
  (at r36 v9)
  (at r90 v10)
  (at r55 v11)
  (at r123 v12)
  (at r50 v13)
  (at r116 v14)
  (at r43 v15)
  (at r167 v16)
  (at r150 v17)
  (at r110 v18)
  (at r109 v19)
  (at r75 v20)
  (at r175 v21)
  (at r84 v22)
  (free v23)
  (at r106 v24)
  (at r152 v25)
  (at r144 v26)
  (at r156 v27)
  (at r87 v28)
  (at r51 v29)
  (at r125 v30)
  (at r15 v31)
  (at r64 v32)
  (at r68 v33)
  (at r142 v34)
  (at r17 v35)
  (at r127 v36)
  (at r56 v37)
  (at r9 v38)
  (at r95 v39)
  (at r102 v40)
  (at r107 v41)
  (at r183 v42)
  (at r137 v43)
  (at r6 v44)
  (at r189 v45)
  (at r27 v46)
  (at r149 v47)
  (at r122 v48)
  (at r74 v49)
  (at r19 v50)
  (at r128 v51)
  (at r131 v52)
  (at r91 v53)
  (at r11 v54)
  (at r12 v55)
  (at r182 v56)
  (at r40 v57)
  (at r2 v58)
  (at r97 v59)
  (at r185 v60)
  (at r41 v61)
  (at r113 v62)
  (at r3 v63)
  (at r26 v64)
  (free v65)
  (at r13 v66)
  (at r160 v67)
  (at r44 v68)
  (at r154 v69)
  (at r169 v70)
  (at r52 v71)
  (at r153 v72)
  (at r28 v73)
  (at r94 v74)
  (at r129 v75)
  (at r184 v76)
  (at r164 v77)
  (at r32 v78)
  (at r139 v79)
  (at r173 v80)
  (at r59 v81)
  (at r186 v82)
  (at r47 v83)
  (at r135 v84)
  (at r58 v85)
  (at r93 v86)
  (at r141 v87)
  (at r5 v88)
  (at r86 v89)
  (at r147 v90)
  (at r25 v91)
  (at r54 v92)
  (at r4 v93)
  (at r83 v94)
  (at r111 v95)
  (at r16 v96)
  (at r29 v97)
  (at r104 v98)
  (at r49 v99)
  (at r72 v100)
  (at r148 v101)
  (at r20 v102)
  (at r85 v103)
  (at r31 v104)
  (at r35 v105)
  (at r108 v106)
  (at r151 v107)
  (at r61 v108)
  (at r34 v109)
  (at r119 v110)
  (at r73 v111)
  (at r10 v112)
  (at r157 v113)
  (at r66 v114)
  (at r118 v115)
  (at r24 v116)
  (at r134 v117)
  (at r77 v118)
  (at r33 v119)
  (at r48 v120)
  (at r130 v121)
  (at r168 v122)
  (at r69 v123)
  (at r105 v124)
  (at r120 v125)
  (at r136 v126)
  (at r140 v127)
  (at r174 v128)
  (at r45 v129)
  (at r70 v130)
  (at r101 v131)
  (at r158 v132)
  (at r117 v133)
  (at r145 v134)
  (at r88 v135)
  (at r30 v136)
  (at r112 v137)
  (at r171 v138)
  (at r98 v139)
  (at r114 v140)
  (at r82 v141)
  (at r100 v142)
  (at r177 v143)
  (at r53 v144)
  (at r124 v145)
  (at r71 v146)
  (at r92 v147)
  (at r23 v148)
  (at r14 v149)
  (at r165 v150)
  (at r159 v151)
  (at r42 v152)
  (at r161 v153)
  (at r178 v154)
  (at r46 v155)
  (at r126 v156)
  (at r162 v157)
  (at r60 v158)
  (at r79 v159)
  (at r176 v160)
  (at r89 v161)
  (at r67 v162)
  (at r179 v163)
  (at r99 v164)
  (at r172 v165)
  (at r18 v166)
  (at r39 v167)
  (at r187 v168)
  (at r63 v169)
  (at r115 v170)
  (at r65 v171)
  (at r143 v172)
  (at r37 v173)
  (at r170 v174)
  (at r96 v175)
  (at r188 v176)
  (at r21 v177)
  (at r103 v178)
  (at r163 v179)
  (at r80 v180)
  (at r22 v181)
  (at r57 v182)
  (at r146 v183)
  (at r138 v184)
  (at r81 v185)
  (at r155 v186)
  (at r121 v187)
  (at r133 v188)
  (at r166 v189)
  )
 )
)